Skip to main content

Advertisement

Log in

Multiple objective planning for thermal ablation of liver tumors

  • Original Article
  • Published:
International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

Preoperative treatment planning is key to ensure successful thermal ablation of liver tumors. The planning aims to minimize the number of electrodes required for complete ablation and the damage to the surrounding tissues while satisfying multiple clinical constraints. This is a challenging multiple objective planning problem, in which the trade-off between different objectives must be considered.

Methods

We propose a novel method to solve the multiple objective planning problem, which combines the set cover-based model and Pareto optimization. The set cover-based model considers multiple clinical constraints and generates several clinically feasible treatment plans, among which the Pareto optimization is performed to find the trade-off between different objectives.

Results

We evaluated the proposed method on 20 tumors of 11 patients in two different situations used in common thermal ablation approaches: with and without the pull-back technique. Pareto optimal plans were found and verified to be clinically acceptable in all cases, which can find the trade-off between the number of electrodes and the damage to the surrounding tissues.

Conclusion

The proposed method performs well in the two different situations we considered: with or without the pull-back technique. It can generate Pareto optimal plans satisfying multiple clinical constraints. These plans consider the trade-off between different planning objectives.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6

Similar content being viewed by others

References

  1. Daher S, Massarwa M, Benson AA, Khoury T (2018) Current and future treatment of hepatocellular carcinoma: an updated comprehensive review. J Clin Transl Hepatol 6(1):69

    Google Scholar 

  2. Hinshaw JL, Lubner MG, Ziemlewicz TJ, Lee FT Jr, Brace CL (2014) Percutaneous tumor ablation tools: microwave, radiofrequency, or cryoablation—what should you use and why? Radiographics 34(5):1344–1362

    Article  Google Scholar 

  3. Rhim H, Lim HK, Ys K, Choi D, Lee WJ (2008) Radiofrequency ablation of hepatic tumors: lessons learned from 3000 procedures. J Gastroenterol Hepatol 23(10):1492–1500

    Article  Google Scholar 

  4. Lyons GR, Pua BB (2019) Ablation planning software for optimizing treatment: challenges, techniques, and applications. Tech Vasc Interv Radiol 22(1):21–25

    Article  Google Scholar 

  5. Schumann C, Rieder C, Bieberstein J, Weihusen A, Zidowitz S, Moltz JH, Preusser T (2010) State of the art in computer-assisted planning, intervention, and assessment of liver-tumor ablation. Crit Revi™ Biomed Eng 38(1):31–52

    Article  Google Scholar 

  6. Villard C, Soler L, Papier N, Agnus V, Gangi A, Mutter D, Marescaux J (2003) RF-Sim: a treatment planning tool for radiofrequency ablation of hepatic tumors. Paper presented at the Proceedings on Seventh International Conference on Information Visualization, 2003. IV 2003.,

  7. Altrogge I, Kröger T, Preusser T, Büskens C, Pereira PL, Schmidt D, Weihusen A, Peitgen H-O (2006) Towards optimization of probe placement for radio-frequency ablation. Paper presented at the International Conference on Medical Image Computing and Computer-Assisted Intervention,

  8. Schumann C, Bieberstein J, Trumm C, Schmidt D, Bruners P, Niethammer M, Hoffmann RT, Mahnken AH, Pereira PL, Peitgen H-O (2010) Fast automatic path proposal computation for hepatic needle placement. Paper presented at the Medical Imaging 2010: Visualization, Image-Guided Procedures, and Modeling,

  9. Seitel A, Engel M, Sommer CM, Radeleff BA, Essert-Villard C, Baegert C, Fangerau M, Fritzsche KH, Yung K, Meinzer HP (2011) Computer-assisted trajectory planning for percutaneous needle insertions. Med Phys 38(6):3246–3259

    Article  Google Scholar 

  10. Schumann C, Rieder C, Haase S, Teichert K, Süss P, Isfort P, Bruners P, Preusser T (2015) Interactive multi-criteria planning for radiofrequency ablation. Int J Comput Assist Radiol Surg 10(6):879–889

    Article  Google Scholar 

  11. Peters T, Clark J, Pike G, Henri C, Collins L, Leksell D, Jeppsson O (1989) Stereotactic neurosurgery planning on a personal-computer-based work station. J Digit Imaging 2(2):75

    Article  CAS  Google Scholar 

  12. Essert C, Haegelen C, Lalys F, Abadie A, Jannin P (2012) Automatic computation of electrode trajectories for deep brain stimulation: a hybrid symbolic and numerical approach. Int J Comput Assist Radiol Surg 7(4):517–532

    Article  Google Scholar 

  13. De Momi E, Caborni C, Cardinale F, Casaceli G, Castana L, Cossu M, Mai R, Gozzo F, Francione S, Tassi L, Lo Russo G, Antiga L, Ferrigno G (2014) Multi-trajectories automatic planner for StereoElectroEncephaloGraphy (SEEG). Int J Comput Assist Radiol Surg 9(6):1087–1097

    Article  Google Scholar 

  14. Sparks R, Vakharia V, Rodionov R, Vos SB, Diehl B, Wehner T, Miserocchi A, McEvoy AW, Duncan JS, Ourselin S (2017) Anatomy-driven multiple trajectory planning (ADMTP) of intracranial electrodes for epilepsy surgery. Int J Comput Assist Radiol Surg 12(8):1245–1255

    Article  Google Scholar 

  15. Chen M-H, Yang W, Yan K, Zou M-W, Solbiati L, Liu J-B, Dai Y (2004) Large liver tumors: protocol for radiofrequency ablation and its clinical application in 110 patients—mathematic model, overlapping mode, and electrode placement process. Radiology 232(1):260–271

    Article  Google Scholar 

  16. Yang L, Wen R, Qin J, Chui C-K, Lim K-B, Chang SK-Y (2010) A robotic system for overlapping radiofrequency ablation in large tumor treatment. IEEE ASME Trans Mechatron 15(6):887

    Article  Google Scholar 

  17. Ren H, Campos-Nanez E, Yaniv Z, Banovac F, Abeledo H, Hata N, Cleary K (2014) Treatment planning and image guidance for radiofrequency ablation of large tumors. IEEE J Biomed Health Inform 18(3):920–928

    Article  Google Scholar 

  18. Ren H, Guo W, Ge SS, Lim W (2014) Coverage planning in computer-assisted ablation based on genetic algorithm. Comput Biol Med 49:36–45

    Article  Google Scholar 

  19. Jaberzadeh A, Essert C (2016) Pre-operative planning of multiple probes in three dimensions for liver cryosurgery: comparison of different optimization methods. Math Methods Appl Sci 39(16):4764–4772

    Article  Google Scholar 

  20. Chen R, Lu F, Wang K, Kong D (2018) Semi-automatic radiofrequency ablation planning based on constrained clustering process for hepatic tumors. IEEE Trans Biomed Eng 65(3):645–657

    Google Scholar 

  21. Liang L, Cool D, Kakani N, Wang G, Ding H, Fenster A (2019) Automatic radiofrequency ablation planning for liver tumors with multiple constraints based on set covering. IEEE Trans Med Imaging 39(5):1459–1471

    Article  Google Scholar 

  22. Keanini R, Rubinsky B (1992) Optimization of multiprobe cryosurgery. J Heat Transf 114(4):796–801

    Article  Google Scholar 

  23. Baissalov R, Sandison GA, Reynolds D, Muldrew K (2001) Simultaneous optimization of cryoprobe placement and thermal protocol for cryosurgery. Phys Med Biol 46(7):1799

    Article  CAS  Google Scholar 

  24. Giorgi G, Avalle L, Brignone M, Piana M, Caviglia G (2013) An optimisation approach to multiprobe cryosurgery planning. Comput Methods Biomech Biomed Eng 16(8):885–895

    Article  Google Scholar 

  25. Torricelli M, Ferraguti F, Secchi C (2013) An algorithm for planning the number and the pose of the iceballs in cryoablation. Paper presented at the 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC),

  26. Granna J, Nabavi A, Burgner-Kahrs J (2019) Computer-assisted planning for a concentric tube robotic system in neurosurgery. Int J Comput Assist Radiol Surg 14(2):335–344

    Article  Google Scholar 

  27. Cepek J, Lindner U, Davidson SR, Haider MA, Ghai S, Trachtenberg J, Fenster A (2014) Treatment planning for prostate focal laser ablation in the face of needle placement uncertainty. Med Phys 41:013301

    Article  Google Scholar 

  28. Liang L, Cool D, Kakani N, Wang G, Ding H, Fenster A (2019) Development of a multi-objective optimized planning method for microwave liver tumor ablation. Paper presented at the International Conference on Medical Image Computing and Computer-Assisted Intervention,

  29. GAMS - The Solver Manuals, GAMS Release 25.1.3 (2018). GAMS Development Corporation Washington, DC, USA. https://www.gams.com/25.1/docs/S_CPLEX.html

  30. Emmerich MT, Deutz AH (2018) A tutorial on multiobjective optimization: fundamentals and evolutionary methods. Nat Comput 17(3):585–609

    Article  CAS  Google Scholar 

  31. Bilic P, Christ PF, Vorontsov E, Chlebus G, Chen H, Dou Q, Fu C-W, Han X, Heng P-A, Hesser JJapa (2019) The liver tumor segmentation benchmark (lits). arXiv:1901.04056

  32. Chan C, Tan S (2001) Determination of the minimum bounding box of an arbitrary solid: an iterative approach. Comput Struct 79(15):1433–1449

    Article  Google Scholar 

  33. Audigier C, Mansi T, Delingette H, Rapaka S, Mihalef V, Sharma P, Carnegie D, Boctor E, Choti M, Kamen A (2013) Lattice Boltzmann method for fast patient-specific simulation of liver tumor ablation from CT images. Paper presented at the International Conference on Medical Image Computing and Computer-Assisted Intervention,

  34. Mariappan P, Weir P, Flanagan R, Voglreiter P, Alhonnoro T, Pollari M, Moche M, Busse H, Futterer J, Portugaller HR (2017) GPU-based RFA simulation for minimally invasive cancer treatment of liver tumours. Int J Comput Assist Radiol Surg 12(1):59–68

    Article  Google Scholar 

  35. Huang Q, Ding H, Wang X, Wang G (2018) Robust extraction for low-contrast liver tumors using modified adaptive likelihood estimation. Int J Comput Assist Radiol Surg 13(10):1565–1578

    Article  Google Scholar 

  36. Huang Q, Ding H, Wang X, Wang G (2018) Fully automatic liver segmentation in CT images using modified graph cuts and feature detection. Comput Biol Med 95:198–208

    Article  Google Scholar 

  37. Huang Q, Sun J, Ding H, Wang X, Wang G (2018) Robust liver vessel extraction using 3D U-Net with variant dice loss function. Comput Biol Med 101:153–162

    Article  Google Scholar 

Download references

Funding

This work was supported by National Key R&D Program of China (2019YFC0119503, 2017YFA0205904) and Tsinghua University Initiative Scientific Research Program (20197010009).

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Guangzhi Wang.

Ethics declarations

Conflict of interest

The authors declare that they have no conflict of interest.

Ethical approval

This article does not contain any studies with human participants or animals performed by any of the authors.

Informed consent

This article used public dataset.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

This paper is based on the work: “Liang L., Cool D., Kakani N., Wang G., Ding H., Fenster A. (2019) Development of a Multi-objective Optimized Planning Method for Microwave Liver Tumor Ablation. In: Shen D. et al. (eds) Medical Image Computing and Computer Assisted Intervention – MICCAI 2019. MICCAI 2019. Lecture Notes in Computer Science, vol 11768. Springer, Cham.”

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Liang, L., Cool, D., Kakani, N. et al. Multiple objective planning for thermal ablation of liver tumors. Int J CARS 15, 1775–1786 (2020). https://doi.org/10.1007/s11548-020-02252-6

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11548-020-02252-6

Keywords

Navigation