Path Planning for Multiple Targets for Cannula Flexible Needle With Variable-Curvature Trajectories.

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2024-12-01 DOI:10.1002/rcs.70010

He Zhang, Yan-Jiang Zhao, Yong-De Zhang, Lei Wang, Ye-Xin Jin, Yan-Yi Pei, Hui Gao

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Abstract

Background: Saturated biopsy is widely used in a histopathological examination of prostate biopsy surgery by expanding the target regions and the increasing the number of insertions.

Methods: The paper proposed a path planning algorithm for multiple targets with a single entry for a cannula flexible needle with variable curvatures. The algorithm is based on modified rapidly-exploring random trees (RRTs), and the variable-curvature motions of the flexible needle are used to achieve optimal path.

Results: The simulation results show that the algorithm has a better form of the paths. The experimental results of five trials showed that the error was 1.42 ± 1.57 mm (mean ± RMSE), and the maximum error was 1.8 mm, which proves high accuracy and effectiveness of the proposed path planning algorithm for multiple targets with a single entry.

Conclusions: This research provides a new solution for prostate saturated biopsy surgery and has high value in future clinical application.

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具有可变曲率轨迹的软管针多目标路径规划。

背景：通过扩大目标区域和增加插入次数，饱和活检被广泛应用于前列腺活检手术的组织病理学检查：本文提出了一种针对多目标的路径规划算法，该算法适用于具有可变曲率的套管柔性针的单入口。该算法基于改进的快速探索随机树（RRTs），并利用柔性针的变曲率运动实现最优路径：仿真结果表明，该算法具有较好的路径形式。五次试验的实验结果表明，误差为 1.42 ± 1.57 mm（均值 ± RMSE），最大误差为 1.8 mm，这证明了所提出的路径规划算法对单次进入的多个目标具有较高的准确性和有效性：该研究为前列腺饱和活检手术提供了一种新的解决方案，具有很高的临床应用价值。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

The international journal of medical robotics + computer assisted surgery : MRCAS

CiteScore

5.30

自引率

0.00%

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