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首页> 外文期刊>Biomedical Engineering: Applications, Basis and Communications >The potential field-based trajectory planning for needle insertion in a soft-tissue model
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The potential field-based trajectory planning for needle insertion in a soft-tissue model

机译：基于潜在场的轨迹规划，用于在软组织模型中插入针头

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This paper presents a 3D dynamic trajectory planning method for the insertion of a rigid needle into soft tissue. The optimal needle tip orientation was calculated in which applying an artificial potential field method to determine the 3D distribution of repulsive and attractive forces surrounding the target object and adjacent obstacles, e.g. bones, nerves, or arteries. Soft-tissue deformation occurs dynamically and continuously during the needle insertion. The trajectory planning was therefore temporally discretized, and the compartment searching method used in each time step. This trajectory planning method was then validated by a dynamic finite element method (FEM) simulation. The dynamic finite element model is built for the important displacement parameters of deformation node in needle insertion process. The Mooney-Rivlin material model combined with solid cubic element and an explicit center differencing scheme was used to compute the soft-tissue deformation at each time step and dynamically identify the target and obstacle positions. The proposed trajectory planning method can optimize the insertion path to achieve the target position while avoiding obstacles.
机译：本文提出了一种将刚性针头插入软组织的3D动态轨迹规划方法。计算最佳针尖方向，其中应用人工势场方法确定围绕目标物体和相邻障碍物（例如障碍物）的排斥力和吸引力的3D分布。骨头，神经或动脉。在针头插入过程中，软组织变形会动态且连续地发生。因此，轨迹规划在时间上是离散的，并且在每个时间步骤中都使用了车厢搜索方法。然后通过动态有限元方法（FEM）仿真验证了这种轨迹规划方法。针对针插入过程中变形节点的重要位移参数建立了动态​​有限元模型。 Mooney-Rivlin材料模型与固体立方元素和明确的中心差分方案相结合，用于计算每个时间步长的软组织变形，并动态识别目标和障碍物位置。所提出的轨迹规划方法可以在避免障碍物的情况下优化插入路径以达到目标位置。

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