{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,3]],"date-time":"2026-04-03T15:58:30Z","timestamp":1775231910619,"version":"3.50.1"},"publisher-location":"Cham","reference-count":15,"publisher":"Springer Nature Switzerland","isbn-type":[{"value":"9783032054784","type":"print"},{"value":"9783032054791","type":"electronic"}],"license":[{"start":{"date-parts":[[2025,9,28]],"date-time":"2025-09-28T00:00:00Z","timestamp":1759017600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2025,9,28]],"date-time":"2025-09-28T00:00:00Z","timestamp":1759017600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2026]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Radiofrequency ablation is a minimally invasive technique widely used for treating liver tumors, yet planning optimal\u00a0probe trajectories for multiple tumors remains a significant challenge\u00a0due to the complexity of avoiding critical structures and ensuring adequate tumor coverage. However, it is crucial to treat as\u00a0many tumors as possible in one intervention to decrease patients\u2019 hospitalization time. Furthermore, utilizing a single probe\u00a0for ablating multiple tumors on the same trajectory reduces the number of probes used, and consequently, the risk of complications, such\u00a0as crossing critical structures or trajectory collisions. In\u00a0this scenario, probes are advanced to the most distant tumor,\u00a0and subsequent to conducting ablation, the probes are retracted to\u00a0the proximal tumor for an additional ablation.<\/jats:p>\n                  <jats:p>We propose a\u00a0novel trajectory planning algorithm for ablation procedures, introducing an innovative multi-tumor planning strategy and force field-based navigation. Our genetic optimization algorithm is guided by a\u00a0field derived from abdominal structures to enable efficient and\u00a0safe navigation through complex anatomy.<\/jats:p>\n                  <jats:p>\n                    A retrospective analysis, performed on 18 patients from our in-house dataset, with 1 to\u00a04 tumors each, shows its usability in clinical scenarios.\u00a0Our algorithm produces safe, non-colliding, and clinically compliant solutions for all cases in 5.7\u00a0min on average and achieves a\u00a0mean coverage of\n                    <jats:inline-formula>\n                      <jats:alternatives>\n                        <jats:tex-math>$$93.5\\%$$<\/jats:tex-math>\n                        <mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\">\n                          <mml:mrow>\n                            <mml:mn>93.5<\/mml:mn>\n                            <mml:mo>%<\/mml:mo>\n                          <\/mml:mrow>\n                        <\/mml:math>\n                      <\/jats:alternatives>\n                    <\/jats:inline-formula>\n                    of tumors with 5\u00a0mm safety margin. Comparison on single-tumor cases with existing automated methods demonstrates the competitiveness of our algorithm. Furthermore, the method\u2019s ability to handle complex multi-tumor scenarios is a significant step toward clinical implementation.\n                  <\/jats:p>","DOI":"10.1007\/978-3-032-05479-1_8","type":"book-chapter","created":{"date-parts":[[2025,9,27]],"date-time":"2025-09-27T05:15:45Z","timestamp":1758950145000},"page":"65-74","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Ablate Them All: A Trajectory Planning for\u00a0Concurrent Percutaneous Ablation of\u00a0Multiple Tumors"],"prefix":"10.1007","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6141-6072","authenticated-orcid":false,"given":"Adela","family":"Lukes","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4600-8000","authenticated-orcid":false,"given":"Stefano","family":"Fogarollo","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0021-5792","authenticated-orcid":false,"given":"Reto","family":"Bale","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2833-3224","authenticated-orcid":false,"given":"Wolfgang","family":"Freysinger","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,9,28]]},"reference":[{"issue":"8","key":"8_CR1","doi-asserted-by":"publisher","first-page":"886","DOI":"10.1111\/1754-9485.13555","volume":"67","author":"R Bale","year":"2023","unstructured":"Bale, R., Laimer, G., Schullian, P., Alzaga, A.: Stereotactic ablation: a game changer? 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