斜尖柔性针在软组织中的二维路径规划

摘要
图/表
参考文献
相关文章 (15)

全文: PDF (3258 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
引用本文:
张永德, 赵燕江, 陈浩. 斜尖柔性针在软组织中的二维路径规划[J]. 机器人, 2011, 33(6): 750-757.. ZHANG Yongde, ZHAO Yanjiang, CHEN Hao. 2D Path Planning of Bevel Tip Flexible Needle in Soft Tissue. ROBOT, 2011, 33(6): 750-757..

摘要

针对斜尖柔性针在软组织中的2维路径规划问题，首先基于柔性针的运动特性，提出了改进的单轮车运动学模型，并利用旋量理论和指数积方程计算了运动学正解，从运动学的角度证明了穿刺直线路径的可行性．基于此运动学模型，提出了采用多种路径形式的路径规划算法，同时考虑入针姿态的优化，建立了优化目标函数．在有障碍的情况下对针的穿刺路径进行了优化计算、仿真和实验．结果证明，该算法能有效地优化全局路径，使针绕过障碍准确达到靶点．实验误差均在2mm内，证明本文提出的运动学模型符合实际运动轨迹．

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	张永德
	赵燕江
	陈浩

关键词 ：柔性针, 运动学模型, 旋量理论, 路径规划, 微创手术

Abstract：

Aiming at the 2D path planning problem of bevel tip flexible needle in soft tissue,an improved unicycle kinematic model is proposed for the flexible needle based on its motion characteristics,and the forward kinematics is calculated using screw theory and product of exponentials formula.The feasibility of linear puncture path is proved from the view of kinematics.Based on this kinematic model,a path planning algorithm adopting multiform paths is proposed,and the optimizing objective function is established taking into account the optimization of needle insertion pose.Then the optimal calculation,simulation and experimentation of the needle puncture path are performed in the environment with obstacles. Results show that this algorithm can effectively optimize the whole paths and make the needle steer clear of obstacles and reach the target precisely.All the errors in the experiments are within 2 mm,which proves that the kinematic model proposed accords with the actual paths.

Key words： flexible needle kinematic model screw theory path planning minimally invasive surgery

收稿日期: 2011-04-22 录用日期: 2011-09-20

TP24

基金资助:

国家自然科学基金资助项目（51075105）；哈尔滨市科技创新人才基金资助项目（2011RFXXS075）；黑龙江省教育厅科学技术研究项目（12511086）

通讯作者: 张永德 E-mail: zhangyd@hrbust.edu.cn

作者简介: 张永德（1965- ），男，博士后，教授，博士生导师．研究领域：医疗机器人，机器人智能控制，仿生机器人．
赵燕江（1979- ），男，博士生，讲师．研究领域：医疗机器人，多指灵巧手．
陈浩（1982- ），男，硕士生．研究领域：医疗机器人．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I6/750

[1] Minhas D S,Engh J A,Fenske M M,et al.Modeling of needle steering via duty-cycled spinning[Cl//29th Annual International Conference of the IEEE-Engineering in Medicine and Biology Society.Piscataway,NJ,USA:IEEE,2007:2756-2759.
[2] Webster Ⅲ R J,Memisevic J,Okamura A M.Design considerations for robotic needle steering[C]//IEEE International Conference on Robotics and Automation.Piscataway,N J,USA:IEEE,2005:3588-3594.
[3] Webster Ⅲ R J,Kim J S,Cowan N J,et al.Nonholonomic modeling of needle steering[J]. International Journal of Robotics Research,2006,25(5/6):509-525.
[4] Alterovitz R,Goldberg K,Okamura A M.Planning for steerable bevel-tip needle insertion through 2D soft tissue with obstacles[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2005:1640-1645.
[5] Alterovitz R,Lim A,Goldberg K,et al.Steering flexible needles under Markov motion uncertainty[C]//IEEE/RSJ Intemational Conference on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,2005:1570-1575.
[6] Alterovitz R,Branicky M,Goldberg K.Motion planning under uncertainty for image-guided medical needle steering[J]. International Journal of Robotics Research,2008,27(11/12):1361-1374.
[7] Alterovitz R,Simeon T,Goldberg K.The stochastic motion roadmap:A sampling framework for planning with Markov motion uncertainty[M]//Robodcs:Science and Systems Ⅲ.Cambridge,MA,USA:MIT Press,2008:246-253.
[8] Park W,Kim J S,Zhou Y,et al.Diffusion-based motion planning for a nonholonomic flexible needle model[C]//IEEE International Conference on Robotics and Automation.Piseataway,NJ,USA:IEEE,2005:4600-4605.
[9] park W,Wang Y,Chirikjian G S.The path-of-probability algorithm for steering and feedback control of flexible needles[J]. International Journal of Robotics Research,2010,29(7):813-830.
[10] Duindam V,Alterovitz R,Sastry S,et al.Screw-based motion planning for bevel-tip flexible needles in 3D environments with obstacles[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2008:2483-2488.
[11] Xu J,Duindam V,Alterovitz R,et al.Motion planning for steerable needles in 3D environments with obstacles using rapidlyexploring random trees and backchaining[C]//IEEE International Conference on Automation Science and Engineering.Piscataway,NJ,USA:IEEE,2008:41-46.
[12] Xu J,Duindam V,Alterovitz R,et al.Planning fireworks trajectories for steerable medical needles to reduce patient trauma[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,2009:4517-4522.
[13] Patil S,Alterovitz R.Interactive motion planning for steerable needles in 3D environments with obstacles[C]//3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics.Piscataway,NJ,USA:IEEE,2010:893-899.
[14] Duindam V,Xu J,Alterovitz R,et al.3D motion planning algorithms for steerable needles using inverse kinematics[C]//8th International Workshop on the Algorithmic Foundations of Robotics.Berlin,Germany:Springer-Verlag,2008:535-549.
[15] Murray R M,Li Z,Sastry S S.A mathematical introduction to robotic manipulation[M]. USA:CRC Press,1994.
[16] 赵燕江,张永德,邵俊鹏.柔性针的运动学建模及实验研究[J]. 机器人,2010,32(5):666-673.Zhao Y J,Zhang Y D,Shao J P,Kinematic modeling and experimental study of flexible needle[J]. Robot,2010,32(5):666-673.
[17] Zhang Y D,Zhao Y J.Kinematic modeling of bevel tip flexible needle[M]//Lecture Notes in Computer Science,vol.6425.Heidelberg,Germany:Springer Verlag,2010:405-416.