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3D Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics.

Vincent Duindam¹, Jijie Xu, Ron Alterovitz

¹Depts. of EECS and IEOR, University of California at Berkeley, CA, USA.

The International Journal of Robotics Research

|March 2, 2011

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This study introduces a new motion planning algorithm for steerable needles, enabling precise navigation in medical procedures. The algorithm uses geometric inverse kinematics for efficient and adaptable path generation, improving target access.

Area of Science:

Robotics and Medical Device Engineering
Computational Geometry and Motion Planning

Background:

Steerable needles offer precise navigation for medical interventions, particularly in reaching targets obscured by sensitive or impassable tissues.
The motion of steerable needles exhibits nonholonomic kinematics, analogous to a Dubins car in 2D and an airplane model in 3D.

Purpose of the Study:

To develop a constant-time motion planning algorithm for steerable needles.
To leverage explicit geometric inverse kinematics for efficient path generation.
To analyze the reachability and path efficiency of the proposed algorithm.

Main Methods:

Developed a constant-time motion planning algorithm based on explicit geometric inverse kinematics.
Analyzed 2D path competitivity using analytic comparisons with Dubins car shortest paths.

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Utilized numerical simulations for 3D path analysis and reachability.

Implemented a local path adaptation algorithm using null-space methods from redundant manipulator theory.

Main Results:

The proposed algorithm provides constant-time motion planning for steerable needles.
Demonstrated efficient path generation and reachability in both 2D and 3D simulations.
The inverse kinematics solution facilitates the generation of obstacle-avoiding needle paths.

Conclusions:

The developed motion planning algorithm offers a robust solution for steerable needle-based medical applications.
The geometric inverse kinematics approach enables precise and adaptable needle path control.
This work provides a foundation for advanced steerable needle applications, including obstacle avoidance.