Path planning method for minimally invasive surgery soft tissue manipulator

Abstract

The invention relates to the field of minimally invasive soft tissue surgery robots, in particular to a method for achieving preparation work of a soft tissue manipulator before a minimally invasive surgery through an improved algorithm. The method mainly comprises the steps of carrying out planning and designing on a path of the soft tissue manipulator, so that the soft tissue robot can achieve autonomous path planning by knowing human body tissue and focus positions before the surgery, and the soft tissue robot reaches the focus positions and conducts related follow-up operation. According to the method, the purpose of path planning is achieved mainly by carrying out modeling and reconstruction on the human body internal tissue and improving the A* algorithm.

Description

technical field [0001] The invention belongs to the fields of robots, biomedicine and medical equipment, and in particular relates to a path planning method for a minimally invasive surgery software manipulator. Background technique [0002] With the continuous development of random robots, more and more robots are used in the field of surgery. However, due to the limitation of its rigid materials, the traditional surgical robot actually plays the role of assisting the completion of the operation during the operation, and has the characteristics of high precision. Although the traditional rigid mechanism robot has been widely used in various operations in the medical field, its adaptability, safety and flexibility are relatively poor, and it is easy to cause damage to the internal tissues of the human body during the operation. The use of soft manipulators in the field and enabling them to achieve the accuracy of traditional surgical robots on the basis of good adaptability...

AI Technical Summary

Problems solved by technology

However, due to the limitation of its rigid materials, the traditional surgical robot actually plays the role of assisting the completion of the operation during the operation, and has the characteristics of high precision.

Although the traditional rigid mechanism robot has been widely used in various operations in the medical field, its adaptability, safety and flexibility are relatively poor, and it is easy to cause damage to the internal tissues of the human body during the operation. The use of soft manipulators in the field and enabling them to achieve the accuracy of traditional surgical robots on the basis of good adaptability and safety has become a hot research direction today.

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