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Robust path planning for flexible needle insertion using Markov decision processes.

Xiaoyu Tan1, Pengqian Yu2, Kah-Bin Lim3

  • 1Department of Mechanical Engineering, National University of Singapore, Singapore, 117575, Singapore. xiaoyu_tan@u.nus.edu.

International Journal of Computer Assisted Radiology and Surgery
|May 13, 2018
PubMed
Summary
This summary is machine-generated.

This study introduces a robust path planning method for flexible needle steering using Markov decision processes (MDPs). The new approach enhances accuracy and success rates in complex environments, improving medical navigation.

Keywords:
Markov decision processesNeedle steeringRobust planningTool–tissue interactionUncertainty

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Area of Science:

  • Robotics
  • Medical Device Technology
  • Computational Biology

Background:

  • Flexible needles offer minimally invasive navigation to treatment regions.
  • Accurate steering is challenging due to complex tissue-needle interactions and uncertainties.

Purpose of the Study:

  • To propose a novel Markov decision process (MDP) based planning method for robust flexible needle navigation.
  • To enhance the reliability of flexible needle steering in complex and uncertain environments.

Main Methods:

  • The method addresses soft tissue deformation, target pattern-induced penetration failures, and motion uncertainties.
  • It utilizes MDPs to develop a secure control policy for flexible needle steering.

Main Results:

  • Computer simulations and phantom experiments demonstrated robust planning and secure control policies.
  • The proposed method showed higher accuracy and success rates in obstacle avoidance compared to traditional MDP methods.
  • Future work includes in vivo experiments with biological tissues.

Conclusions:

  • The developed robust path planning method enables secure flexible needle steering in soft tissues.
  • The approach demonstrates high adaptability in computer simulations for medical applications.