[The potential field-based trajectory planning of needle invasion in soft tissue]

Soft tissue is one kind of elastic tissue which includes the blood vessel and nerve, and brachytherapy is a radioactive and non-invasive way for the treatment of cancer in which soft tissue is always deformed. Aiming at this soft tissue-induced-problem, the present authors have made a research on the trajectory planning in operation. The 3D artificial potential field of organ is set up by the function definition of cancer attracting force and blood vessel repulsion force, the dynamic finite element model is also built for the important displacement parameters of deformation node in needle invasion process. Moreover, the minimum potential direction in each node, and the static and dynamic trajectory planning are investigated. Finally, the experimental simulation shows the validation and correctness of the above-mentioned method.