ReviewInternational journal of computer assisted radiology and surgery2019
The Adaptive Hermite Fractal Tree (AHFT): a novel surgical 3D path planning approach with curvature and heading constraints.
Review in International journal of computer assisted radiology and surgery, 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. It is linked to trial NCT05526352 (@neurIST), which is not on this map. Cited by 23 papers, 1 of them a synthesis that pooled it.
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
@neurIST : Informatique biomédicale intégrée Pour la Gestion Des anévrismes cérébraux
Who cites it
23 citing papers in PubMed, 1 synthesis or guideline pooled it.
- Automatic Path-Planning Techniques for Minimally Invasive Stereotactic Neurosurgical Procedures-A Systematic Review.Sensors (Basel, Switzerland) · 2024Pooled it
- Curved trajectories in stereotactic neurosurgery: is it feasible?Neurosurgical review · 2025Article
- Single-cell sequencing analysis reveals the promotion of ELR CXCL genes on angiogenesis and the influence on malignant progression in glioblastoma.Journal of clinical biochemistry and nutrition · 2025Article
- Unlocking new horizons: advances in treating IDH-mutant, 1p/19q-codeleted oligodendrogliomas.Discover oncology · 2025Review
- Safe Start Regions for Medical Steerable Needle Automation.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2025Article
- Effect of infusion direction on convection-enhanced drug delivery to anisotropic tissue.Journal of the Royal Society, Interface · 2024Article
- A Survey of Needle Steering Approaches in Minimally Invasive Surgery.Annals of biomedical engineering · 2024Review
- Design, Synthesis of Hydrogen Peroxide Response AIE Fluorescence Probes Based on Imidazo [1,2-a] Pyridine.Molecules (Basel, Switzerland) · 2024Article
- Autonomous medical needle steering in vivo.Science robotics · 2023Article
- Toward certifiable optimal motion planning for medical steerable needles.The International journal of robotics research · 2023Article
- Planning of Medical Flexible Needle Motion in Effective Area of Clinical Puncture.Sensors (Basel, Switzerland) · 2023Article
- A Metric for Finding Robust Start Positions for Medical Steerable Needle Automation.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2022Article
- Resolution-Optimal Motion Planning for Steerable Needles.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2022Article
- Insights into Infusion-Based Targeted Drug Delivery in the Brain: Perspectives, Challenges and Opportunities.International journal of molecular sciences · 2022Review
- Modular robotic platform for precision neurosurgery with a bio-inspired needle: System overview and first in-vivo deployment.PloS one · 2022Article
- Toward Certifiable Motion Planning for Medical Steerable Needles.Robotics science and systems : online proceedings · 2021Article
- Backward Planning for a Multi-Stage Steerable Needle Lung Robot.IEEE robotics and automation letters · 2021Article
- Path planning for endovascular catheterization under curvature constraints via two-phase searching approach.International journal of computer assisted radiology and surgery · 2021Article
- Effects of Nanosecond Pulsed Electric Fields in Cell Vitality, Apoptosis, and Proliferation of TPC-1 Cells.Analytical cellular pathology (Amsterdam) · 2021Article
- Biologically Inspired Surgical Needle Steering: Technology and Application of the Programmable Bevel-Tip Needle.Biomimetics (Basel, Switzerland) · 2020Article
Corrections and comments
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Authors and funding
3 authors.
Funding
Abstract
purposeIn the context of minimally invasive neurosurgery, steerable needles such as the one developed within the Horizon2020-funded EDEN2020 project (Frasson et al. in Proc Inst Mech Eng Part H J Eng Med 224(6):775-88, 2010. https://doi.org/10.1243/09544119JEIM663 ; Secoli and y Baena in IEEE international conference on robotics and automation, 2013) aspire to address the clinical challenge of better treatment for cancer patients. The direct, precise infusion of drugs in the proximity of a tumor has been shown to enhance its effectiveness and diffusion in the surrounding tissue (Vogelbaum and Aghi in Neuro-Oncology 17(suppl 2):ii3-ii8, 2015. https://doi.org/10.1093/neuonc/nou354 ). However, planning for an appropriate insertion trajectory for needles such as the one proposed by EDEN2020 is challenging due to factors like kinematic constraints, the presence of complex anatomical structures such as brain vessels, and constraints on the required start and target poses.
methodsWe propose a new parallelizable three-dimensional (3D) path planning approach called Adaptive Hermite Fractal Tree (AHFT), which is able to generate 3D obstacle-free trajectories that satisfy curvature constraints given a specified start and target pose. The AHFT combines the Adaptive Fractal Tree algorithm's efficiency (Liu et al. in IEEE Robot Autom Lett 1(2):601-608, 2016. https://doi.org/10.1109/LRA.2016.2528292 ) with optimized geometric Hermite (Yong and Cheng in Comput Aided Geom Des 21(3):281-301, 2004. https://doi.org/10.1016/j.cagd.2003.08.003 ) curves, which are able to handle heading constraints.
resultsSimulated results demonstrate the robustness of the AHFT to perturbations of the target position and target heading. Additionally, a simulated preoperative environment, where the surgeon is able to select a desired entry pose on the patient's skull, confirms the ability of the method to generate multiple feasible trajectories for a patient-specific case.
conclusionsThe AHFT method can be adopted in any field of application where a 3D path planner with kinematic and heading constraints on both start and end poses is required.
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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.