关于形尖端柔性针的穿孔模型和路径规划算法的调查
Ye Huang1, Longfeng Yu1, Feifan Zhang1
1Department of Medical Information Engineering, School of Biomedical Engineering Anhui Medical University, China.
Heliyon
|February 7, 2024
概括
本综述探讨了用于微创手术的柔性针的路径规划算法. 它对模型和算法进行了分类,以提高障碍物导航和生物检查和支架疗法等程序的目标准确性.
科学领域:
- 医疗机器人 医疗机器人
- 最少侵入性的手术
- 计算力学 计算力学 计算力学
背景情况:
- 穿皮手术中的刚性针被直线路径和无法绕过障碍物所限制.
- 头灵活的针头为复杂的外科导航提供了更好的机动性.
- 准确的建模和路径规划对于成功的柔性针插入至关重要,避免了重要的结构.
研究的目的:
- 系统地审查和分类穿孔模型和灵活针的路径规划算法.
- 分析各种路径规划算法的实现,优点和缺点.
- 确定未来的研究方向,以加强在最小侵入性手术中灵活的针路规划.
主要方法:
- 文献综述侧重于穿孔模型和路径规划算法.
- 穿孔模型的分类为机械,有限元素方法 (FEM) 和动力学类型.
- 基于移动机器人策略的路径规划算法的分类,包括图形理论,采样和智能搜索方法.
主要成果:
- 穿孔模型分为机械,FEM和动力学.
- 路径规划算法使用移动机器人方法进行创新分类,涵盖图形理论,采样式智能搜索和局部避难障碍.
- 提供了对算法实现,好处和缺点的全面概述.
结论:
- 柔性针比刚性针具有优势,用于最少的侵入性手术.
- 该综述提供了对当前灵活针的路径规划技术的结构化理解.
- 未来的研究应该专注于推进路径规划算法,以克服柔性针插入的复杂障碍.
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