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An Improved Bi-RRT Algorithm for Optimal Puncture Path Planning
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DOI：10.3390/a18110702.png)
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Percutaneous puncture has become one of the most widely used minimally invasive techniques in clinical practice due to its advantages of low trauma, quick recovery and easy operation. However, incomplete needle tip movement, tissue barriers and complex distribution of sensitive organs make it difficult to balance puncture accuracy and safety. To this end, this paper proposes a new puncture path planning algorithm for flexible needles, which integrates gravitational guidance, bi-directional adaptive expansion, optimal node selection based on the A* algorithm, and path optimization strategies, with Bi-Rapid-Research Random Trees (Bi-RRTs) at its core, to significantly improve obstacle avoidance capability and computational efficiency. The simulation results of 2D and 3D complex scenes in MATLAB show that compared with the traditional RRT algorithm and Bi-RRT algorithm, the GBOPBi-RRT algorithm achieves significant advantages in terms of path length, computation time and node size. In particular, in the 3D environment, the GBOPBi-RRT algorithm shortens the planning path by 43.21% compared with RRT, 27.47% compared with RRT* and 30.33% compared with Bi-RRT, which provides a reliable solution for efficient planning of percutaneous puncture with flexible needles.
Keyword:
bidirectional rapidly exploring random tree (Bi-RRT)
flexible needle
path planning
unicycle kinematic model
reachable space analysis
期刊
IF:
2.1
论文数:
654
被引数:
5.4K
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引用论文
An Improved RRT* Algorithm Combining Motion Constraint and Artificial Potential Field for Robot-Assisted Flexible Needle Insertion in 3D Environment结合运动约束和人工势场改进的RRT*算法，用于3D环境下机器人辅助柔性针插入
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