Research on Force Analysis and Path Planning of Flexible Needle Puncture Bending Modelling

Abstract

Through the force analysis of the flexible needle puncture process, the corresponding mechanical model is established, and the main factors that cause the flexible needle bending deformation are analysed, and the bending model of the flexible needle puncture process is initially established. By discretizing the bending model, combined with experimental verification, a relatively complete bending model is obtained. Based on the RRT algorithm, the goal guidance algorithm, the optimal path selection algorithm, etc. are proposed, combined with the bending model of the flexible needle, and an improved RRT algorithm suitable for the flexible needle insertion method is established. Through simulation analysis and combined with experimental verification, it is concluded that path planning based on the improved RRT algorithm can bypass important human organs and soft tissues more flexibly, accurately puncture the target position, and achieve relatively safe surgery.