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Motion Planning for Flexible Needle in Multilayer Tissue Environment with Obstacles
Huo BY(霍本岩); Zhao XG(赵新刚); Han JD(韩建达); Xu WL(徐卫良)
作者部门机器人学研究室
会议名称2012 IEEE International Conference on Systems, Man, and Cybernetics
会议日期October 14-17, 2012
会议地点Seoul, Korea
会议主办者IEEE Computer Society
会议录名称Proceedings of the 2012 IEEE International Conference on Systems, Man, and Cybernetics
出版者IEEE
出版地New York, USA
2012
页码3292-3297
收录类别EI ; CPCI(ISTP)
EI收录号20130415925501
WOS记录号WOS:000316869203070
产权排序1
ISBN号978-1-4673-1714-6
关键词Flexible Needle Path Planning Dynamic Programming Multilayer Tissue Obstacle Fuzzification
摘要Flexible needle with bevel tip offers greater mobility for puncture surgery. This would expand the scope of the puncture surgery. However, motion planning for flexible needle is still a challenge due to its non-holonomic property and the complicated interactions with soft tissues. In this paper, a multilayer tissue model is constructed to simulate human tissue, and a dynamic programming is employed to plan the motion of flexible needle in the multilayer environment. In order to improve the security of the puncture process, the obstacles are fuzzed up. Then, an optimal algorithm is developed to determine a more suitable puncture angle. In addition, to deal with more complex environment, we develop a reverse algorithm to confirm the entry point in line with the target. Finally, we take some simulations to verify the proposed algorithms, and analyze the results.
语种英语
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被引频次:3[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10210
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Graduate School of the Chinese Academy of Sciences, Beijing, China
3.Department of Mechanical Engineering, University of Auckland, Auckland, New Zealand
推荐引用方式
GB/T 7714
Huo BY,Zhao XG,Han JD,et al. Motion Planning for Flexible Needle in Multilayer Tissue Environment with Obstacles[C]//IEEE Computer Society. New York, USA:IEEE,2012:3292-3297.
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