The surgical planning of large hepatic tumor ablation remains a challenging task that relies
on fulfilling multiple medical constraints, especially for the ablation based on configurations
of multiple electrodes. The placement of the electrodes to completely ablate the tumor as
well as their insertion trajectory to their final position have to be planned to cause as little
damage to healthy anatomical structures as possible to allow a fast rehabilitation. In this
paper, we present a novel, versatile approach for the computer-assisted planning of multi …