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Preoperative path planning for percutaneous renal biopsy using the hybrid sampling rapidly-exploring random tree
Peiwen Huang1, Zhaoju Zhu1, Ziyu Cui1
1School of Mechanical Engineering and Automation and Research Center of Joint Intelligent Medical Engineering, Fuzhou University, Fujian, 350116, PR China.
Computer Methods and Programs in Biomedicine
|July 21, 2026
Summary
A new hybrid sampling-based RRT* (HS-RRT*) algorithm improves percutaneous renal biopsy safety and standardization. This method offers efficient and precise trajectory planning, reducing randomness and enhancing procedural reproducibility for clinicians.
Area of Science:
- Medical Imaging and Robotics
- Computational Geometry and Path Planning
Background:
- Percutaneous renal biopsy is crucial for diagnosing kidney diseases but lacks standardized, quantitative trajectory planning.
- Current methods rely heavily on operator experience, impacting procedural safety and reproducibility.
Purpose of the Study:
- To develop an efficient and safe trajectory planning method for percutaneous renal biopsy using a novel algorithm.
- To enhance procedural safety, reproducibility, and standardization in renal puncture operations.
Main Methods:
- Developed a 3D-printed ex vivo renal puncture phantom and reconstructed the environment from medical images.
- Proposed a hybrid sampling-based RRT* (HS-RRT*) algorithm integrating reverse path planning, sampling strategies, and Bézier curve smoothing.
- Compared HS-RRT* with existing algorithms under identical spatial configurations.
Main Results:
- HS-RRT* demonstrated superior performance in path length, search efficiency, and trajectory smoothness compared to other algorithms.
- Generated trajectories met clinical safety standards, reducing planning randomness.
- Achieved optimized trajectories with maximum bending angles below 4°, ensuring smooth paths.
Conclusions:
- HS-RRT* offers a precise, efficient, and standardized solution for preoperative trajectory planning in percutaneous renal biopsy.
- The algorithm provides a reliable technical foundation for intelligent puncture navigation and standardized clinical procedures.
