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In this paper, the OBBTree algorithm is applied to the liver tumor ablation path planning for clinical needs, which is often used in collision detection research, and three weak constraints for liver tumor ablation path optimization based on clinical needs are proposed, two implementation schemes for obtaining the start and end points of the puncture path, a multi-constraint optimization mathematical model for thermal ablation of liver tumors. At last, the evaluation score is calculated to obtain the optimal ablation planning path that meets the clinical needs. After evaluation, this method is considered by the professional physician of hepatobiliary and pancreatic surgery (from the First Hospital of Jilin University) to be more in line with clinical needs. The operating efficiency of the algorithm exceeds the efficiency of manual planning by clinicians and its accuracy is no less than that planned by clinicians. It can minimize the penetrating damage to the body caused by the ablation process to the patient so that the patient has a better prognosis after surgery. |
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