Puncture robot flexible needle motion path planning device and method based on wolf group algorithm

Abstract

The invention discloses a puncture robot flexible needle motion path planning device and method based on a wolf group algorithm, and belongs to the field of control and decision making of intelligentmedical robots. The path planning device provided by the invention mainly comprises an image collector and a path planning module positioned on a computer. The path planning module comprises a path model and target function construction module, a wolf group algorithm parameter input and initialization module, a wolf group algorithm execution module and an optimal path judgment module. The method of the invention comprises the following steps of: establishing a flexible needle puncture path model and a path optimization objective function based on the image collector and a computer program module, generating a path to a target point as an artificial wolf, updating the position of a head wolf by taking a target function value of the path as an updating standard, and acquiring an optimal pathaccording to the set maximum iteration times and the constraint condition of the puncture path model. The invention quickly solves the problem of path planning applied to the puncture needle, shortens the time consumption of path planning and obtains a planned path meeting the requirement.

Description

technical field [0001] The invention belongs to the field of intelligent medical robot control and decision-making, and relates to a device and method for planning the motion path of a flexible needle of a puncture robot used in intelligent medical treatment. Background technique [0002] With the rapid development of intelligent medical technology, surgical medical robots are widely used. Surgical navigation based on computer vision sensors has gradually developed and matured in the past decade, especially in surgical operations, medical robots can use imaging technology to maximize the accuracy of puncture and reduce patient pain. [0003] Flexible needle path planning is the basis of puncture medical robot system control. During the puncture operation, the robot needs to use visual images to plan a flexible puncture needle movement path according to the target point. The motion path planning problem of the flexible needle is actually a path planning problem from the entr...

AI Technical Summary

Problems solved by technology

[0019] In view of the relatively poor accuracy, large amount of calculation and complexity in the existing flexible needle puncture path planning, and the difficulty of fast path planning, the present invention improves the existing wolf pack algorithm to apply to the puncture robot In flexible needle motion path planning, a device and method for puncture robot flexible needle motion path planning based on wolf pack algorithm are provided

Images