This invention discloses a robotic multi-
needle puncture trajectory planning method for
prostate cancer. By acquiring two-dimensional
ultrasound images and
spatial positioning data of the
prostate, the coordinates of three-dimensional feature points of obstacles such as blood vessels and the pubic bone are obtained. The tumor contour is extracted using a combination of manual delineation and an improved target detection
algorithm to complete three-dimensional reconstruction of the
prostate and tumor, as well as implicit function modeling of obstacles, constructing a personalized three-dimensional surgical environment. This method employs a progressive planning strategy, solving for a collision-free reachable
workspace for each needle, optimizing the
needle insertion trajectory with the shortest path and minimal trauma as objectives, and establishing a
tissue deformation compensation model to correct target point offset. Simultaneously, the implanted puncture needles are used as dynamic obstacle iterative update constraints to achieve cyclical optimization of the multi-needle trajectory. Finally, a six-degree-of-freedom
robotic arm equipped with a
needle guide device completes precise positioning and puncture assistance, achieving orderly, collision-free multi-needle implantation. This invention effectively improves puncture positioning accuracy and
surgical safety, reduces manual intervention, and provides an automated, high-precision
trajectory planning solution for prostate particle implantation.