Surgical tool trajectory optimization in brain tumour resection

During resection of tumours, which are located inside the brain, normal tissues are also destroyed. It may be reason of permanent brain damage and loss or lesion of some bodily functions. Therefore damages minimization during tumour removing is such important. Knowledge of the tumour localization gives opportunity to planning of path to the tumour and method of its resection. In this paper surgical tool trajectory optimization for brain tumour resection was presented. The computed trajectory is an element of surgical plan. It may be used to automatic brain tumour with usage of the surgical tool, which is mounted on the surgical robot arm. A mathematical description of brain tumour method was described in this paper. A quality indicator was formulated and an optimal trajectory of surgical tool was computed. Results of experiments were analysed and conclusions were presented.