An Optimal Control Problem for Stereotactic Neurosurgery

Flaßkamp, Kathrin; Worthmann, Karl; Greiner-Petter, Christoph; Büskens, Christof; Sattel, Thomas

doi:10.11128/arep.55.a55246

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2019

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“…In this contribution, we extend our presentation [13]. Our main focus is on the modelling of the design and planning problem as a constrained optimal control problem.…”

Section: Introductionmentioning

confidence: 97%

Towards optimal control of concentric tube robots in stereotactic neurosurgery

Flaßkamp

Worthmann

Mühlenhoff

et al. 2019

Mathematical and Computer Modelling of Dynamical Systems

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We consider the design and control problem of concentric tubes used in stereotactic neurosurgery. The goal is to optimally reach a configuration of the cannula linking an entry point on the skullcap to a pre-specified region inside the brain. Key issues related to this task are the mechanical behaviour of the cannula and the topography of the brain. We formulate an optimal control problem in order to determine a feasible path while minimizing brain damage caused by missing follow-the-leader behaviour. Numerical results show the potential of the proposed approach.

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“…In this contribution, we extend our presentation [13]. Our main focus is on the modelling of the design and planning problem as a constrained optimal control problem.…”

Section: Introductionmentioning

confidence: 97%