{"id":"https://openalex.org/W4410256374","doi":"https://doi.org/10.1007/s11548-025-03386-1","title":"Automatic trajectory planning for stereotactic radiofrequency ablation in non-discrete search space","display_name":"Automatic trajectory planning for stereotactic radiofrequency ablation in non-discrete search space","publication_year":2025,"publication_date":"2025-05-11","ids":{"openalex":"https://openalex.org/W4410256374","doi":"https://doi.org/10.1007/s11548-025-03386-1","pmid":"https://pubmed.ncbi.nlm.nih.gov/40348935"},"language":"en","primary_location":{"id":"doi:10.1007/s11548-025-03386-1","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11548-025-03386-1","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11548-025-03386-1.pdf","source":{"id":"https://openalex.org/S181408163","display_name":"International Journal of Computer Assisted Radiology and Surgery","issn_l":"1861-6410","issn":["1861-6410","1861-6429"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computer Assisted Radiology and Surgery","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s11548-025-03386-1.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Adela Lukes","orcid":"https://orcid.org/0000-0002-6141-6072"},"institutions":[{"id":"https://openalex.org/I143397708","display_name":"Innsbruck Medical University","ror":"https://ror.org/03pt86f80","country_code":"AT","type":"education","lineage":["https://openalex.org/I143397708"]}],"countries":["AT"],"is_corresponding":true,"raw_author_name":"Adela Lukes","raw_affiliation_strings":["Interventional Oncology-Stereotaxy and Robotics (SIP), Radiology Department, Medical University Innsbruck, Innsbruck, Austria. adela.lukes@i-med.ac.at"],"raw_orcid":"https://orcid.org/0000-0002-6141-6072","affiliations":[{"raw_affiliation_string":"Interventional Oncology-Stereotaxy and Robotics (SIP), Radiology Department, Medical University Innsbruck, Innsbruck, Austria. adela.lukes@i-med.ac.at","institution_ids":["https://openalex.org/I143397708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047931223","display_name":"Reto Bale","orcid":"https://orcid.org/0000-0003-0021-5792"},"institutions":[{"id":"https://openalex.org/I143397708","display_name":"Innsbruck Medical University","ror":"https://ror.org/03pt86f80","country_code":"AT","type":"education","lineage":["https://openalex.org/I143397708"]}],"countries":["AT"],"is_corresponding":true,"raw_author_name":"Reto Bale","raw_affiliation_strings":["Interventional Oncology-Stereotaxy and Robotics (SIP), Radiology Department, Medical University Innsbruck, Innsbruck, Austria. reto.bale@i-med.ac.at"],"raw_orcid":"https://orcid.org/0000-0003-0021-5792","affiliations":[{"raw_affiliation_string":"Interventional Oncology-Stereotaxy and Robotics (SIP), Radiology Department, Medical University Innsbruck, Innsbruck, Austria. reto.bale@i-med.ac.at","institution_ids":["https://openalex.org/I143397708"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060877730","display_name":"Wolfgang Freysinger","orcid":"https://orcid.org/0000-0002-2833-3224"},"institutions":[{"id":"https://openalex.org/I143397708","display_name":"Innsbruck Medical University","ror":"https://ror.org/03pt86f80","country_code":"AT","type":"education","lineage":["https://openalex.org/I143397708"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Wolfgang Freysinger","raw_affiliation_strings":["4D Visualization Laboratory, ENT Clinic, Medical University Innsbruck, Innsbruck, Austria"],"raw_orcid":"https://orcid.org/0000-0002-2833-3224","affiliations":[{"raw_affiliation_string":"4D Visualization Laboratory, ENT Clinic, Medical University Innsbruck, Innsbruck, Austria","institution_ids":["https://openalex.org/I143397708"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5047931223"],"corresponding_institution_ids":["https://openalex.org/I143397708"],"apc_list":{"value":4390,"currency":"USD","value_usd":4390},"apc_paid":{"value":4390,"currency":"USD","value_usd":4390},"fwci":0.8848,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.6890149,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"20","issue":"7","first_page":"1349","last_page":"1360"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10358","display_name":"Advanced Radiotherapy Techniques","score":0.164900004863739,"subfield":{"id":"https://openalex.org/subfields/3108","display_name":"Radiation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10358","display_name":"Advanced Radiotherapy Techniques","score":0.164900004863739,"subfield":{"id":"https://openalex.org/subfields/3108","display_name":"Radiation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.11909999698400497,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.10159999877214432,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6557539701461792},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.649704098701477},{"id":"https://openalex.org/keywords/ablation","display_name":"Ablation","score":0.5675497055053711},{"id":"https://openalex.org/keywords/radius","display_name":"RADIUS","score":0.5620131492614746},{"id":"https://openalex.org/keywords/margin","display_name":"Margin (machine learning)","score":0.5322088599205017},{"id":"https://openalex.org/keywords/radiofrequency-ablation","display_name":"Radiofrequency ablation","score":0.5267238616943359},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5167555212974548},{"id":"https://openalex.org/keywords/radiation-treatment-planning","display_name":"Radiation treatment planning","score":0.4799816310405731},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3981221318244934},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.21911391615867615},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.17817017436027527},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.15760350227355957},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1363109052181244}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6557539701461792},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.649704098701477},{"id":"https://openalex.org/C2778902805","wikidata":"https://www.wikidata.org/wiki/Q322177","display_name":"Ablation","level":2,"score":0.5675497055053711},{"id":"https://openalex.org/C178635117","wikidata":"https://www.wikidata.org/wiki/Q747499","display_name":"RADIUS","level":2,"score":0.5620131492614746},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.5322088599205017},{"id":"https://openalex.org/C2777377203","wikidata":"https://www.wikidata.org/wiki/Q1809554","display_name":"Radiofrequency ablation","level":3,"score":0.5267238616943359},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5167555212974548},{"id":"https://openalex.org/C201645570","wikidata":"https://www.wikidata.org/wiki/Q830637","display_name":"Radiation treatment planning","level":3,"score":0.4799816310405731},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3981221318244934},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.21911391615867615},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.17817017436027527},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.15760350227355957},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1363109052181244},{"id":"https://openalex.org/C509974204","wikidata":"https://www.wikidata.org/wiki/Q180507","display_name":"Radiation therapy","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000078703","descriptor_name":"Radiofrequency Ablation","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D000078703","descriptor_name":"Radiofrequency Ablation","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D000078703","descriptor_name":"Radiofrequency Ablation","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D000078703","descriptor_name":"Radiofrequency Ablation","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008113","descriptor_name":"Liver Neoplasms","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":true},{"descriptor_ui":"D008113","descriptor_name":"Liver Neoplasms","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":true},{"descriptor_ui":"D008113","descriptor_name":"Liver Neoplasms","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":true},{"descriptor_ui":"D008113","descriptor_name":"Liver Neoplasms","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":true},{"descriptor_ui":"D008113","descriptor_name":"Liver Neoplasms","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":true},{"descriptor_ui":"D008113","descriptor_name":"Liver Neoplasms","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":true},{"descriptor_ui":"D008113","descriptor_name":"Liver Neoplasms","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":true},{"descriptor_ui":"D008113","descriptor_name":"Liver Neoplasms","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":true},{"descriptor_ui":"D012189","descriptor_name":"Retrospective Studies","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012189","descriptor_name":"Retrospective Studies","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012189","descriptor_name":"Retrospective Studies","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012189","descriptor_name":"Retrospective Studies","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true}],"locations_count":3,"locations":[{"id":"doi:10.1007/s11548-025-03386-1","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11548-025-03386-1","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11548-025-03386-1.pdf","source":{"id":"https://openalex.org/S181408163","display_name":"International Journal of Computer Assisted Radiology and Surgery","issn_l":"1861-6410","issn":["1861-6410","1861-6429"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computer Assisted Radiology and Surgery","raw_type":"journal-article"},{"id":"pmid:40348935","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40348935","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International journal of computer assisted radiology and surgery","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:12226703","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/12226703","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC12226703/pdf/11548_2025_Article_3386.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Int J Comput Assist Radiol Surg","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.1007/s11548-025-03386-1","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11548-025-03386-1","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11548-025-03386-1.pdf","source":{"id":"https://openalex.org/S181408163","display_name":"International Journal of Computer Assisted Radiology and Surgery","issn_l":"1861-6410","issn":["1861-6410","1861-6429"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computer Assisted Radiology and Surgery","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6100000143051147}],"awards":[{"id":"https://openalex.org/G6395947379","display_name":null,"funder_award_id":"FWF DOC 110","funder_id":"https://openalex.org/F4320328086","funder_display_name":"Bundesministerium f\u00fcr Bildung, Wissenschaft und Forschung"},{"id":"https://openalex.org/G943180673","display_name":"Image-guided Diagnosis and Therapy (IGDT)","funder_award_id":"DOC110","funder_id":"https://openalex.org/F4320321181","funder_display_name":"Austrian Science Fund"}],"funders":[{"id":"https://openalex.org/F4320321181","display_name":"Austrian Science Fund","ror":"https://ror.org/013tf3c58"},{"id":"https://openalex.org/F4320326164","display_name":"Medizinische Universit\u00e4t Innsbruck","ror":"https://ror.org/03pt86f80"},{"id":"https://openalex.org/F4320327491","display_name":"Universit\u00e4t Innsbruck","ror":"https://ror.org/054pv6659"},{"id":"https://openalex.org/F4320328086","display_name":"Bundesministerium f\u00fcr Bildung, Wissenschaft und Forschung","ror":"https://ror.org/03gng8t46"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4410256374.pdf","grobid_xml":"https://content.openalex.org/works/W4410256374.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1972072326","https://openalex.org/W1972686536","https://openalex.org/W1987549921","https://openalex.org/W1992333519","https://openalex.org/W2001338066","https://openalex.org/W2086638136","https://openalex.org/W2104930346","https://openalex.org/W2126105956","https://openalex.org/W2139132099","https://openalex.org/W2622516798","https://openalex.org/W2984618555","https://openalex.org/W3021613070","https://openalex.org/W3089683437","https://openalex.org/W4206627490","https://openalex.org/W4214621116","https://openalex.org/W4224036161","https://openalex.org/W4372287668","https://openalex.org/W4383218413","https://openalex.org/W4385285064","https://openalex.org/W4386002437","https://openalex.org/W4389506781","https://openalex.org/W4390946922","https://openalex.org/W4402755499","https://openalex.org/W4403008105","https://openalex.org/W4403063297"],"related_works":["https://openalex.org/W2913786724","https://openalex.org/W3125011624","https://openalex.org/W2977374089","https://openalex.org/W1508631387","https://openalex.org/W2370917603","https://openalex.org/W3145441801","https://openalex.org/W2952760143","https://openalex.org/W2017776670","https://openalex.org/W2357783023","https://openalex.org/W2013863777"],"abstract_inverted_index":{"PURPOSE:":[0],"Radiofrequency":[1],"ablation":[2,168,195],"is":[3],"a":[4,39,59,64,81,156],"well":[5],"established":[6],"minimally":[7],"invasive":[8],"procedure":[9,18],"to":[10,67,85,113,154],"treat":[11],"tumors":[12,189],"in":[13],"solid":[14],"organs.":[15],"During":[16],"the":[17,23,69,87,111,115,134,145,152,181],"applicators":[19,164],"are":[20,30,151,190],"inserted":[21],"into":[22],"tumor":[24],"and":[25,42,45,90,93,124,131,158],"cells":[26],"around":[27],"their":[28],"tips":[29],"destroyed":[31],"by":[32,72],"heat-induced":[33],"denaturation.":[34],"Manual":[35],"trajectory":[36,60],"planning":[37,46,61,70,160],"requires":[38],"trained":[40],"interventionalist,":[41],"its":[43],"complexity":[44],"time":[47],"rise":[48],"significantly":[49],"with":[50,128,133,165,192],"an":[51,122],"increasing":[52],"number":[53],"of":[54,100,147],"trajectories.":[55],"METHODS:":[56],"We":[57,119],"propose":[58,155],"method":[62,79,106],"using":[63,162],"genetic":[65],"algorithm":[66,171],"accelerate":[68],"process":[71],"automatically":[73],"generating":[74],"multiple":[75,108,163,193],"safe":[76],"plans.":[77],"Our":[78,170],"uses":[80],"non-discrete":[82],"search":[83],"space":[84],"find":[86],"best":[88,146],"entry":[89],"target":[91],"points":[92,103],"does":[94],"not":[95],"need":[96],"any":[97],"prior":[98],"calculation":[99],"such":[101],"candidate's":[102],"sets.":[104],"The":[105],"offers":[107],"plans,":[109],"allowing":[110],"interventionalists":[112],"choose":[114],"most":[116],"appropriate":[117],"one.":[118],"tested":[120],"on":[121],"open-source":[123],"in-house":[125,135],"dataset,":[126],"comparing":[127],"related":[129,141],"work":[130],"retrospectively":[132],"clinical":[136,182],"planning.":[137],"RESULTS:":[138],"faster":[139],"than":[140,177,198],"approaches.":[142],"CONCLUSION:":[143],"To":[144],"our":[148,185],"knowledge,":[149],"we":[150],"first":[153],"fast":[157],"accurate":[159],"technique":[161],"10":[166],"mm":[167],"radius.":[169],"can":[172],"deliver":[173],"solutions":[174],"optimizing":[175],"more":[176],"ten":[178],"trajectories,":[179],"approaching":[180],"practice":[183],"at":[184],"institution,":[186],"where":[187],"large":[188],"treated":[191],"overlapping":[194],"zones":[196],"rather":[197],"resection.":[199]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}