Artificial potential field path planning method of flexible needle based on obstacle grading and device

Abstract

The invention provides an artificial potential field path planning method of a flexible needle based on obstacle grading and a device, thereby settling problems of uncertain planning path and uncertain motion of the flexible needle in prior art. The device according to the invention comprises an image sensing system, a control system, an executing system and an upper computer. The method based onthe device comprises the steps of acquiring a real-time image of a flexible needle puncture environment by the image sensing system, identifying a target point and the obstacle in the image, performing grading on the obstacle, and calculating the potential energy of each position point in the current environment based on the artificial potential field; and performing static path planning by the control system according to the curvature restriction and optimization index in flexible needle path planning, obtaining an initial path and a needle entering point, then correcting the position pointsin the path according to a real-time acquired puncture environment image, and transmitting a control instruction to an executing system for controlling motion of the flexible needle. According to themethod and the device, more available paths can be planned and higher real-time performance in path planning is realized.

Description

technical field [0001] The invention relates to the field of soft tissue puncture surgery, in particular to a path planning method and device for a flexible needle using a robot for automatic puncture surgery. Background technique [0002] As a typical minimally invasive technique, puncture surgery is widely used in biopsy, drug injection, local anesthesia, brachytherapy, thermal ablation and other treatment methods, and has achieved good results in the diagnosis and treatment of many diseases , due to its advantages of less trauma, faster recovery and less pain, it has gained widespread attention in medical research and application. In recent years, through the cooperation with imaging, sensing and other technologies, puncture surgery has made great progress. [0003] At present, most of the traditional puncture operations are carried out by experienced doctors, through the puncture instruments and human tissue information provided by medical testing equipment, combined wi...

AI Technical Summary

Problems solved by technology

[0005] Flexible needle path planning is the basis of puncture medical robot system control. At present, most of the existing planning methods only introduce traditional path planning methods. Although geometrically reachable paths can be achieved, they usually do not consider the motion characteristics of flexible needles and the human body environment. The difference and the real-time requirements of the system, so it has different limitations

At the same time, due to the different importance of different tissues in the human body, some tissues cannot be damaged at all, while some tissues can be damaged to a limited extent, so the traditional obstacle model may lead to the loss of the optimal solution or even no solution, which will affect the puncture treatment. It is also impossible to understand the actual impact of each optimization index influencing factor on the path through a unified optimization index

For example, methods such as rapid expansion of random search trees have the problem of solving instability and deviating from the optimal solution. For the same environment, the paths planned each time will be different, which will cause greater uncertainty; - The mechanism of tissue action is complex and the uncertainty of motion is large, so this feature will put forward higher requirements for tracking control and cause greater difficulties for the stability control of the system

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