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Related Experiment Video

Updated: Jan 20, 2026

A Spine Robotic-Assisted Navigation System for Pedicle Screw Placement
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A Guided Sampling Enhanced Rapidly-Exploring Random Tree Path Planning Algorithm for Robot-Assisted Flexible Needle

Jiale Zhang1, Shan Jiang2, Zhiyong Yang1

  • 1Mechanical Engineering Department, Tianjin University, No. 92, Weijin Road, Nankai District, Tianjin, China.

Annals of Biomedical Engineering
|January 19, 2026
PubMed
Summary

This study introduces an advanced path planning algorithm for robot-assisted flexible needle insertion. The improved method enhances accuracy and efficiency in complex anatomical environments, showing promise for clinical applications.

Keywords:
Flexible needleGuided samplingPath planningPercutaneous surgeryRobotic-assisted insertion

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Area of Science:

  • Robotics
  • Medical Engineering
  • Computer Science

Background:

  • Percutaneous puncture is vital in clinical interventional therapy.
  • Robot-assisted flexible needle insertion faces challenges due to tissue interaction and complex anatomy.

Purpose of the Study:

  • To develop an improved path planning algorithm for robot-assisted flexible needle insertion.
  • To enhance the accuracy and efficiency of needle insertion in complex anatomical structures.

Main Methods:

  • An improved rapidly-exploring random tree (RRT) path planning algorithm was developed.
  • Soft Actor Critic (SAC)-guided sampling was integrated to optimize path planning.
  • A hybrid sampling strategy balanced global exploration and local exploitation.
  • A navigation and positioning robot was used for autonomous needle guidance.

Main Results:

  • The algorithm significantly reduced search randomness and invalid nodes.
  • Path quality and planning efficiency were improved.
  • Experiments in biomimetic tissue showed a low insertion error of 0.97 ± 0.41 mm.

Conclusions:

  • The proposed algorithm enhances robot-assisted flexible needle insertion in complex anatomy.
  • The system demonstrates strong potential for clinical translation due to its accuracy and autonomy.