Path Planning for Multiple Targets for Cannula Flexible Needle With Variable-Curvature Trajectories
He Zhang1, Yan-Jiang Zhao1,2, Yong-De Zhang1,3
1Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, China.
Summary
A novel path planning algorithm enhances prostate saturated biopsy accuracy. This method uses a flexible needle with variable curvatures for precise multiple target sampling with a single entry, improving surgical outcomes.
Area of Science:
- Robotics and Surgical Technology
- Medical Imaging and Histopathology
Background:
- Saturated biopsy is a key histopathological technique for prostate cancer diagnosis.
- It involves expanding target regions and increasing insertion points for comprehensive tissue sampling.
Purpose of the Study:
- To develop and validate an advanced path planning algorithm for prostate saturated biopsy.
- The goal is to enable precise navigation for multiple targets using a single needle entry point.
Main Methods:
- A modified rapidly-exploring random trees (RRTs) algorithm was developed for path planning.
- The algorithm incorporates variable-curvature motions of a flexible needle for optimal trajectory achievement.
Main Results:
- Simulation results demonstrated superior path generation capabilities.
- Experimental trials showed a mean error of 1.42 ± 1.57 mm and a maximum error of 1.8 mm, confirming high accuracy.
Conclusions:
- The proposed path planning algorithm offers a significant advancement for prostate saturated biopsy.
- This technology holds substantial potential for improving the efficacy and clinical application of prostate biopsies.
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