Abstract
This paper presents a novel dynamic path planning methodology for needle steering into the soft tissue. A real-time finite element model is used to simulate the procedure of a flexible needle into the homogeneous soft tissue, which provides the dynamic deformation information for the path planning. The relationship between needle base and tip is formulated as the transformations of homogeneous matrix with quasi-static assumptions. Based on the reachability of the flexible needle, the real-time motions of obstacles and target are considered through the dynamic needle-tissue interactions. A testbed including a XY linear stage, one rotator, and a CCD camera is constructed, and the experiments are designed to validate the proposed method. The 23G PTC needle was inserted into the PVA phantom with markers, and the CCD camera was utilized to record the needle trajectories and motions of target and obstacles. The targeting errors between the experimental and planned paths are less than 1.20 mm, and the distance from the obstacle to needle is not smaller than 1.16 mm. The results demonstrate that the proposed algorithm is effective for online planning the paths in the needle-tissue interactive environment.
Highlights
To improve the accuracy of needle insertions, the needle trajectory should be planned and updated according to the dynamic needle-tissue interactions
Jiang et al improved the artificial potential field (APF) algorithm with the conjugate gradient method, which can escape from a local minimal point [12], and the discrete potential field was used for path planning of surgical needles in 3D anatomical environments [13]. e virtual spring was employed to model the tissue properties by Glozman, and the path planning problem is converted into the optimization of lateral force [14]
Duindam et al presented the forward and inverse kinematic equations of flexible needle based on the nonholonomic model, and the null motion was employed to a three-dimensional needle path [21]
Summary
To improve the accuracy of needle insertions, the needle trajectory should be planned and updated according to the dynamic needle-tissue interactions. Needle path planning is to control the insertion parameters and guide the tip for avoiding the obstacles and reaching the targets [8,9,10], which reflects the dynamic procedure of needle-tissue interactions [11]. The dynamic information of the targets and obstacles is predicted and applied to the path planning procedure, and they can facilitate to correct the needle insertion errors.
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