Preoperative path planning for percutaneous renal biopsy using the hybrid sampling rapidly-exploring random tree...

Area of Science:

• Medical Imaging and Intervention
• Robotics and Automation
• Nephrology

Background:

• Percutaneous renal biopsy is crucial for diagnosing kidney diseases but lacks standardized, quantitative trajectory planning.
• Current methods rely heavily on operator experience, impacting 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 improve the safety, reproducibility, and standardization of renal puncture procedures.

Main Methods:

• A 3D-printed ex vivo renal puncture phantom was used, with the environment reconstructed from 3D medical images.
• A Hybrid Sampling-based RRT* (HS-RRT*) algorithm was developed, integrating reverse path planning, sampling-channel strategy, angle evaluation, multi-path selection, and Bézier curve smoothing.
• The HS-RRT* method was compared against existing path-planning algorithms.

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 and reduced planning randomness.
• Optimized trajectories achieved high smoothness, with maximum bending angles under 4°.

Conclusions:

• The HS-RRT* algorithm offers a precise, efficient, and standardized solution for preoperative trajectory planning in percutaneous renal biopsy.
• This framework provides a reliable technical foundation for intelligent puncture navigation and standardized clinical practice.