Research On Dose Planning And Surgical Navigation In Lung Cancer Seed Implantation Surgery

The research on dose planning and surgical navigation of lung cancer seed implantation surgery can help for accurate excution of clinical surgery,and receives extensive attention.This paper studied the accurate inverse dose planning and robotic navigation,through the analysis of dose planning and surgical navigation methods in robot assisted seed implantation surgery.This study can largely achieve the goals of improving the accuracy of seed implantation,reducing side effects,and improving the therapeutic effect.This research can promote the technological development in the field of medical robots and oncology treatment.The main contents are shown as follows:(1)A hybrid inverse dose optimization algorithm based on coplanar template is developed,which combines the simulated annealing algorithm and DVH-based inverse evaluation method.This algorithm changes the idea of forward dose planning in traditional methods.It starts from the goal of dose planning,and the objective function and constraint conditions should be established at first.The simulated annealing algorithm is used for searching initial results,which are evaluated using DVH-based inverse evaluation method.The optimal result can be determined.Experimental results show that this algorithm has higher accuracy and efficiency than traditional methods.(2)A personalized non-coplanar template is created,and a three-dimensional non-coplanar dose optimization algorithm based on joint sparse representation is proposed.The non-coplanar template solves clinical requirements such as multiple tumor targets and physical structure limitations.The direction of the needle can be freely designed.The dose optimization algorithm can automatically determine the optimal seed distribution according to the training results.Experiments shows that the personalized non-coplanar can accurately achieve the results of preoperative planning,and the accuracy and efficiency of the proposed algorithm is better than current clinical methods.(3)An improved ICP registration algorithm is developed.The initial value determination method in traditional algorithm is changed,and the registration from image space to patient space is divided into coarse registration and fine registration.The quaternion method is used to determine the initial value in coarse registration,and the iterative idea of ICP algorithm is involved to get the optimal transformation matrix.The experimental results show that the accuracy of the improved ICP registration algorithm meets the requirement of clinical surgery.(4)An auto-positioning method driven by preoperative dose planning for the template is proposed.The traditional manual mechanism is replaced by a robotic device with higher accuracy and stability.The result of preoperative dose planning is sent to the robotic device to achieve accurate positioning of the template.This method can not only improve the work efficiency,but also guarantee the positioning accuracy.(5)A lung cancer seed implantation surgery dose planning and navigation platform is established,based on the image-guided robot and the lung cancer brachytherapy treatment planning system.The animal experiment and clinical surgery are carried out to verify the accuracy,efficiency and safety of the platform.