Motion Planning for Flexible Needle in  Multilayer Tissue Environment with Obstacles

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	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)
	2012
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
关键词	flexible needle path planning dynamic programming multilayer tissue obstacle fuzzification
页码	3292-3297
中文摘要	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.
收录类别	EI ; CPCI（ISTP）
产权排序	1
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
语种	英语
ISBN号	978-1-4673-1714-6
WOS记录号	WOS:000316869203070
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/10210]
专题	沈阳自动化研究所_机器人学研究室
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]. 见:2012 IEEE International Conference on Systems, Man, and Cybernetics. Seoul, Korea. October 14-17, 2012.