Securing an optimum operating field without undesired tissue damage in neurosurgery

A. Fukuhara, Teppei Tsujita, K. Sase, A. Konno, A. Nakagawa, T. Endo, T. Tominaga, Xin Jiang, Satoko Abiko, Masaru Uchiyama

Research output: Contribution to journalArticlepeer-review


In neurosurgery, surgeons sometimes retract brain tissue to prepare an operating field around a lesion. In addition, they are required to plan a safe surgical pathway for deep-brain regions while considering tissue damage caused by excessive stress. The goal of this study is to develop a technique for automatically generating a surgery pathway for lesions in the deep-brain region, focusing on securing an operating field around the lesion as a first step and also considering brain tissue deformation. In previous studies, securing the operating field has been treated as a single-objective optimization problem in order to maximize the viewable area of the lesion. However, in this study, the task of securing the operating field is formulated as a multi-objective optimization problem. Using a technique that combines finite element analysis and an optimization method, the principal stress on the brain is constrained to less than a certain threshold value, and the position and orientation of the surgical instrument are optimized for safe retraction of the brain according to various weighting factors.

Original languageEnglish
Pages (from-to)1245-1259
Number of pages15
JournalAdvanced Robotics
Issue number19
Publication statusPublished - 2016 Oct 1


  • Neurosurgery
  • finite element method
  • multi-objective optimization
  • operating field

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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