Reverse Path Planning for Flexible Needle in 2D Soft Tissue with Obstacles

摘要：

　　In clinic it is of very practical significance to optimize the entry point and pose in path planning.We proposed a reverse path planning algorithm adopting multiform combined paths based on the improved kinematic model of flexible needle,and the objective function is established.Utilizing the reversibility of the path,we started from the target to optimize the whole path including the entry point and pose.Then we optimally calculated and simulated in the environment with obstacles.Results show that this algorithm effectively makes the needle steer clear of obstacles to reach the target precisely,and gains the entry point and pose at the same time,guaranteeing the optimal path.

关键词： flexible needle reverse path planning kinematic modeling minimally invasive surgery

作者: Yan-jiang Zhao Yong-de Zhang Fei Tu

作者单位: Intelligent Machine Institute, Harbin University of Science and Technology, Harbin 150080, China

会议类型: 国际会议

会议名称: the Second International Conference on Frontiers of Manufacturing and Design Science(第二届制造与设计科学国际会议(ICFMD 2011))

会议地点: 台湾

会议语种:英文

页码: 4132-4137

在线出版日期: 2011-12-11（万方平台首次上网日期，不代表论文的发表时间）