3D Dynamic Motion Planning for Robot-Assisted Cannula Flexible Needle Insertion into Soft Tissue

International Journal of Advanced Robotic Systems

Wen-Qiang Wu¹  Yong-De Zhang¹  Rui-Xue Wang¹  Jing-Chun Peng¹  Yan-Jiang Zhao¹  Yan Yu¹ 

关键词: Dynamic Motion Planning;    Rapidly-exploring Random Tree;    Cannula Flexible Needle;    Robot-assisted Surgery;   

DOI  :  10.5772/64199

学科分类：自动化工程

来源: InTech

【 摘 要 】

In robot-assisted needle-based medical procedures, insertion motion planning is a crucial aspect. 3D dynamic motion planning for a cannula flexible needle is challenging with regard to the nonholonomic motion of the needle tip, the presence of anatomic obstacles or sensitive organs in the needle path, as well as uncertainties due to the dynamic environment caused by the movements and deformations of the organs. The kinematics of the cannula flexible needle is calculated in this paper. Based on a rapid and robust static motion planning algorithm, referred to as greedy heuristic and reachability-guided rapidly-exploring random trees, a 3D dynamic motion planner is developed by using replanning. Aiming at the large detour problem, the convergence problem and the accuracy problem that replanning encounters, three novel strategies are proposed and integrated into the conventional replanning algorithm. Comparisons are made between algorithms with and without the strategies to verify their validity. Simulations ...

【 授权许可】

Unknown