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题名: Motion Planning for Flexible Needle in Multilayer Tissue Environment with Obstacles
作者: 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: Proceedings of the 2012 IEEE International Conference on Systems, Man, and Cybernetics
会议录出版者: IEEE
会议录出版地: New York, USA
出版日期: 2012
页码: 3292-3297
收录类别: CPCI(ISTP) ; EI
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.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10210
Appears in Collections:机器人学研究室_会议论文

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