{"id":"https://openalex.org/W2921037346","doi":"https://doi.org/10.1117/12.2512352","title":"Heuristic-based optimal path planning for neurosurgical tumor ablation","display_name":"Heuristic-based optimal path planning for neurosurgical tumor ablation","publication_year":2019,"publication_date":"2019-03-08","ids":{"openalex":"https://openalex.org/W2921037346","doi":"https://doi.org/10.1117/12.2512352","mag":"2921037346"},"language":"en","primary_location":{"id":"doi:10.1117/12.2512352","is_oa":false,"landing_page_url":"https://doi.org/10.1117/12.2512352","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Medical Imaging 2019: Image-Guided Procedures, Robotic Interventions, and Modeling","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041193734","display_name":"Ajeet Wankhede","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ajeet Wankhede","raw_affiliation_strings":["Univ. of Maryland, College Park (United States)"],"affiliations":[{"raw_affiliation_string":"Univ. of Maryland, College Park (United States)","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005289284","display_name":"Likhita Madiraju","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Likhita Madiraju","raw_affiliation_strings":["Univ. of Maryland, College Park (United States)"],"affiliations":[{"raw_affiliation_string":"Univ. of Maryland, College Park (United States)","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014687462","display_name":"Dipam Patel","orcid":"https://orcid.org/0000-0002-6082-4525"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dipam Patel","raw_affiliation_strings":["Univ. of Maryland, College Park (United States)"],"affiliations":[{"raw_affiliation_string":"Univ. of Maryland, College Park (United States)","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025749015","display_name":"Kevin Cleary","orcid":"https://orcid.org/0000-0001-9809-4823"},"institutions":[{"id":"https://openalex.org/I1336742384","display_name":"Children's National","ror":"https://ror.org/03wa2q724","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1336742384"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin Cleary","raw_affiliation_strings":["Children's National Medical Ctr. (United States)"],"affiliations":[{"raw_affiliation_string":"Children's National Medical Ctr. (United States)","institution_ids":["https://openalex.org/I1336742384"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023710076","display_name":"Chima Oluigbo","orcid":"https://orcid.org/0000-0002-7851-3792"},"institutions":[{"id":"https://openalex.org/I1336742384","display_name":"Children's National","ror":"https://ror.org/03wa2q724","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1336742384"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chima Oluigbo","raw_affiliation_strings":["Children's National Medical Ctr. (United States)"],"affiliations":[{"raw_affiliation_string":"Children's National Medical Ctr. (United States)","institution_ids":["https://openalex.org/I1336742384"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024536966","display_name":"Reza Monfaredi","orcid":"https://orcid.org/0000-0003-1507-8137"},"institutions":[{"id":"https://openalex.org/I1336742384","display_name":"Children's National","ror":"https://ror.org/03wa2q724","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1336742384"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Reza Monfaredi","raw_affiliation_strings":["Children's National Medical Ctr. (United States)"],"affiliations":[{"raw_affiliation_string":"Children's National Medical Ctr. (United States)","institution_ids":["https://openalex.org/I1336742384"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5041193734"],"corresponding_institution_ids":["https://openalex.org/I66946132"],"apc_list":null,"apc_paid":null,"fwci":0.4361,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.64056923,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"89","last_page":"89"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11669","display_name":"Head and Neck Surgical Oncology","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T11669","display_name":"Head and Neck Surgical Oncology","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9955999851226807,"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"}},{"id":"https://openalex.org/T10129","display_name":"Glioma Diagnosis and Treatment","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/ablation","display_name":"Ablation","score":0.8066847920417786},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5979252457618713},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5950585603713989},{"id":"https://openalex.org/keywords/fast-marching-method","display_name":"Fast marching method","score":0.5771283507347107},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5279319286346436},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.492856502532959},{"id":"https://openalex.org/keywords/path-length","display_name":"Path length","score":0.43187057971954346},{"id":"https://openalex.org/keywords/neurosurgery","display_name":"Neurosurgery","score":0.42349833250045776},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36928844451904297},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.32021358609199524},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.3163158595561981},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27808332443237305}],"concepts":[{"id":"https://openalex.org/C2778902805","wikidata":"https://www.wikidata.org/wiki/Q322177","display_name":"Ablation","level":2,"score":0.8066847920417786},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5979252457618713},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5950585603713989},{"id":"https://openalex.org/C17866373","wikidata":"https://www.wikidata.org/wiki/Q5437042","display_name":"Fast marching method","level":2,"score":0.5771283507347107},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5279319286346436},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.492856502532959},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.43187057971954346},{"id":"https://openalex.org/C12770488","wikidata":"https://www.wikidata.org/wiki/Q188449","display_name":"Neurosurgery","level":2,"score":0.42349833250045776},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36928844451904297},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.32021358609199524},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.3163158595561981},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27808332443237305},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1117/12.2512352","is_oa":false,"landing_page_url":"https://doi.org/10.1117/12.2512352","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Medical Imaging 2019: Image-Guided Procedures, Robotic Interventions, and Modeling","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.47999998927116394,"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2064273401","https://openalex.org/W2088820564","https://openalex.org/W2120884642","https://openalex.org/W2129209579","https://openalex.org/W2129711966","https://openalex.org/W2147855981","https://openalex.org/W3161879169","https://openalex.org/W4230172521","https://openalex.org/W4238244559","https://openalex.org/W4367727998","https://openalex.org/W6657071919"],"related_works":["https://openalex.org/W2967993767","https://openalex.org/W2443919745","https://openalex.org/W4384009577","https://openalex.org/W2368795992","https://openalex.org/W2559356576","https://openalex.org/W3139139461","https://openalex.org/W1660309994","https://openalex.org/W2056737145","https://openalex.org/W4297094037","https://openalex.org/W1987886368"],"abstract_inverted_index":{"In":[0,62,100,205],"brain":[1,52,57,76,117],"tumor":[2,10,31,58,144],"ablation":[3,11,27,32,37,59,114,135,176,234],"procedures,":[4],"imaging":[5],"for":[6,56,116,174,216],"path":[7,28,36,47,87,115,140],"planning":[8,48,55],"and":[9,97,125,149,171,187,199,226],"are":[12],"performed":[13],"in":[14,33,42,219],"two":[15],"different":[16,175],"sessions.":[17],"Using":[18],"pre-operative":[19,46],"MR":[20],"images,":[21,159],"the":[22,43,49,64,71,80,86,90,133,143,155,169,181,184,189,210,222],"neurosurgeon":[23],"determines":[24],"an":[25,112,232],"optimal":[26,113,190,233],"to":[29,75,94,110,131,230],"maximize":[30,132],"a":[34,103,138,150,213],"single":[35,139],"while":[38],"avoiding":[39],"critical":[40,185],"structures":[41],"brain.":[44],"After":[45],"patient":[50],"undergoes":[51],"surgery.":[53],"Manual":[54],"is":[60,108,129],"time-intensive.":[61],"addition,":[63],"preoperative":[65],"images":[66,73],"may":[67],"not":[68],"precisely":[69],"match":[70],"intra-operative":[72],"due":[74],"shift":[77],"after":[78],"opening":[79],"skull.":[81],"Surgeons":[82],"sometimes":[83],"therefore":[84],"adjust":[85],"planned":[88],"during":[89],"surgery,":[91],"which":[92],"leads":[93],"increased":[95],"anaesthesia":[96],"operation":[98],"time.":[99],"this":[101,206],"paper,":[102],"new":[104],"heuristic-based":[105],"search":[106,223],"algorithm":[107,128,162],"introduced":[109],"find":[111,231],"tumors,":[118],"that":[119,178],"can":[120],"be":[121],"used":[122],"both":[123],"pre-":[124],"intra-operatively.":[126],"The":[127],"intended":[130],"safe":[134],"region":[136],"with":[137,180],"ablation.":[141],"Given":[142],"location,":[145],"healthy":[146],"tissue":[147],"locations,":[148],"random":[151],"start":[152],"point":[153],"on":[154,168],"skull":[156,170],"from":[157],"medical":[158],"our":[160,200],"proposed":[161,201],"computes":[163],"all":[164],"plausible":[165],"entry":[166],"points":[167],"then":[172],"searches":[173],"paths":[177],"intersect":[179],"tumor,":[182],"avoids":[183],"structures,":[186],"finds":[188],"path.":[191,235],"We":[192],"implemented":[193],"Breadth":[194],"First":[195],"Search":[196],"(BFS),":[197],"Dijkstra,":[198],"heuristic":[202],"based":[203],"algorithms.":[204],"paper":[207],"we":[208],"report":[209],"results":[211],"of":[212,221],"comparative":[214],"study":[215],"these":[217],"methods":[218],"terms":[220],"space":[224],"explored":[225],"required":[227],"computation":[228],"time":[229]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}