计算机工程与应用2017，Vol.53Issue(16)：121-125,160,6.DOI:10.3778/j.issn.1002-8331.1603-0128
基于环境特征和随机方法的柔性针路径规划
Path planning for flexible needle based on environment properties and random method.
摘要
Abstract
Aiming at the problem of the path planning for flexible needle insertion into soft tissue, the planning algorithm based on environment properties and random method is proposed. In this method, the unicycle model is adopted, and the sample paths are planned using the Rapidly-exploring Random Tree algorithm. Then the optimal path is selected by the path evaluation function. The function is composed of normalized sub-functions relating to the path length, the number of arcs, the safety degree and the risk grade of obstacles. For different environments and applications, the weight coefficient of each sub-function and the risk level of each obstacle can be adjusted according to surgeon's clinical experience. Finally, the simulation of the path planning for flexible needle is performed in complicated environments. The results show that the proposed method has better environmental adaptability and provides more interaction, and then has potential for practi-cal application.关键词
柔性针/路径规划/环境特征/快速搜索随机树Key words
flexible needle/path planning/environment properties/rapidly-exploring random tree分类
信息技术与安全科学引用本文复制引用
李霞,李鹏,熊璟..基于环境特征和随机方法的柔性针路径规划[J].计算机工程与应用,2017,53(16):121-125,160,6.基金项目
国家自然科学基金(No.61403368) （No.61403368）
深圳市基础研究项目(No.JCYJ20140417113430639) （No.JCYJ20140417113430639）
湖南省自然科学基金(No.2015JJ6105) （No.2015JJ6105）
湖南省教育厅优秀青年项目(No.14B167) （No.14B167）
中国科学院深圳先进技术研究院优秀青年创新基金(No.201302) （No.201302）
深圳市孔雀计划技术创新项目(No.KQCX20130628112914284) （No.KQCX20130628112914284）
广东省影像引导治疗技术创新团队项目. （）
