用于柔性针转向与反馈控制的概率路径算法
The Path-of-Probability Algorithm for Steering and Feedback Control of Flexible Needles.
作者信息
Park Wooram, Wang Yunfeng, Chirikjian Gregory S
出版信息
Int J Rob Res. 2010 Jun 1;29(7):813-830. doi: 10.1177/0278364909357228.
Abstract
In this paper we develop a new framework for path planning of flexible needles with bevel tips. Based on a stochastic model of needle steering, the probability density function for the needle tip pose is approximated as a Gaussian. The means and covariances are estimated using an error propagation algorithm which has second order accuracy. Then we adapt the path-of-probability (POP) algorithm to path planning of flexible needles with bevel tips. We demonstrate how our planning algorithm can be used for feedback control of flexible needles. We also derive a closed-form solution for the port placement problem for finding good insertion locations for flexible needles in the case when there are no obstacles. Furthermore, we propose a new method using reference splines with the POP algorithm to solve the path planning problem for flexible needles in more general cases that include obstacles.
摘要
在本文中，我们开发了一种用于带斜角尖端的柔性针路径规划的新框架。基于针转向的随机模型，针尖姿态的概率密度函数近似为高斯分布。使用具有二阶精度的误差传播算法估计均值和协方差。然后，我们将概率路径（POP）算法应用于带斜角尖端的柔性针的路径规划。我们展示了我们的规划算法如何用于柔性针的反馈控制。我们还推导了一个封闭形式的解，用于在没有障碍物的情况下为柔性针找到良好插入位置的端口放置问题。此外，我们提出了一种将参考样条与POP算法相结合的新方法，以解决更一般情况下（包括有障碍物的情况）柔性针的路径规划问题。
相似文献
1
The Path-of-Probability Algorithm for Steering and Feedback Control of Flexible Needles.用于柔性针转向与反馈控制的概率路径算法
Int J Rob Res. 2010 Jun 1;29(7):813-830. doi: 10.1177/0278364909357228.
2
A survey on puncture models and path planning algorithms of bevel-tipped flexible needles.斜面尖端柔性针穿刺模型与路径规划算法研究综述
Heliyon. 2024 Jan 23;10(3):e25002. doi: 10.1016/j.heliyon.2024.e25002. eCollection 2024 Feb 15.
3
Automatic Robotic Steering of Flexible Needles from 3D Ultrasound Images in Phantoms and Ex Vivo Biological Tissue.自动机器人引导柔性针从 3D 超声图像在体模和离体生物组织。
Ann Biomed Eng. 2018 Sep;46(9):1385-1396. doi: 10.1007/s10439-018-2061-3. Epub 2018 May 29.
4
A review on tissue-needle interaction and path planning models for bevel tip type flexible needle minimal intervention.一种关于斜角尖端型柔性针微创介入的组织-针交互和路径规划模型的综述。
Math Biosci Eng. 2024 Jan;21(1):523-561. doi: 10.3934/mbe.2024023. Epub 2022 Dec 15.
5
A model to predict deflection of bevel-tipped active needle advancing in soft tissue.用于预测在软组织中推进的斜角主动针偏斜的模型。
Med Eng Phys. 2014 Mar;36(3):285-93. doi: 10.1016/j.medengphy.2013.11.006. Epub 2013 Dec 2.
6
Robust path planning for flexible needle insertion using Markov decision processes.基于马尔可夫决策过程的柔性针插入稳健路径规划。
Int J Comput Assist Radiol Surg. 2018 Sep;13(9):1439-1451. doi: 10.1007/s11548-018-1783-x. Epub 2018 May 11.
7
Human-robot collaborated path planning for bevel-tip needle steering in simulated human environment.在模拟人体环境中用于斜尖针转向的人机协作路径规划
Annu Int Conf IEEE Eng Med Biol Soc. 2016 Aug;2016:5672-5675. doi: 10.1109/EMBC.2016.7592014.
8
Deflection of a flexible needle during insertion into soft tissue.柔性针插入软组织过程中的偏斜。
Conf Proc IEEE Eng Med Biol Soc. 2006;2006:3858-61. doi: 10.1109/IEMBS.2006.259519.
9
Screw-Based Motion Planning for Bevel-Tip Flexible Needles in 3D Environments with Obstacles.三维环境中带障碍物的斜尖柔性针基于螺钉的运动规划
IEEE Int Conf Robot Autom. 2008 May 19:2483-2488. doi: 10.1109/ROBOT.2008.4543586.
10
An adaptive finite element model for steerable needles.用于可操纵针的自适应有限元模型。
Biomech Model Mechanobiol. 2020 Oct;19(5):1809-1825. doi: 10.1007/s10237-020-01310-x. Epub 2020 Mar 9.
引用本文的文献
1
Unified Shape and External Load State Estimation for Continuum Robots.连续体机器人的统一形状和外部负载状态估计
IEEE Trans Robot. 2024;40:1813-1827. doi: 10.1109/tro.2024.3360950. Epub 2024 Feb 1.
2
A survey on puncture models and path planning algorithms of bevel-tipped flexible needles.斜面尖端柔性针穿刺模型与路径规划算法研究综述
Heliyon. 2024 Jan 23;10(3):e25002. doi: 10.1016/j.heliyon.2024.e25002. eCollection 2024 Feb 15.
3
Rate of Entropy Production in Stochastic Mechanical Systems.随机机械系统中的熵产生率
Entropy (Basel). 2021 Dec 23;24(1):19. doi: 10.3390/e24010019.
4
Black-Scholes Theory and Diffusion Processes on the Cotangent Bundle of the Affine Group.仿射群余切丛上的布莱克-斯科尔斯理论与扩散过程
Entropy (Basel). 2020 Apr 17;22(4):455. doi: 10.3390/e22040455.
5
Safe Motion Planning for Steerable Needles Using Cost Maps Automatically Extracted from Pulmonary Images.利用从肺部图像自动提取的代价地图进行可控针的安全运动规划。
Rep U S. 2018 Oct;2018:4942-4949. doi: 10.1109/IROS.2018.8593407. Epub 2019 Jan 7.
6
Conformational Modeling of Continuum Structures in Robotics and Structural Biology: A Review.机器人技术与结构生物学中连续体结构的构象建模：综述
Adv Robot. 2015;29(13):817-829. doi: 10.1080/01691864.2015.1052848.
7
Motion Planning for a Three-Stage Multilumen Transoral Lung Access System.用于三阶段多腔经口肺穿刺系统的运动规划
Rep U S. 2015 Sep-Oct;2015:3255-3261. doi: 10.1109/IROS.2015.7353829.
8
Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images.利用二维超声图像在三维非静态环境中进行针路径规划与引导
Int J Rob Res. 2014 Sep;33(10):1361-1374. doi: 10.1177/0278364914526627.
9
Motion Planning under Uncertainty for Medical Needle Steering Using Optimization in Belief Space.基于信念空间优化的医疗针转向不确定性运动规划
IEEE Int Conf Robot Autom. 2014 Sep;2014:1775-1781. doi: 10.1109/IROS.2014.6942795.
10
Needle Steering in 3-D Via Rapid Replanning.通过快速重新规划实现三维针引导
IEEE Trans Robot. 2014 Aug;30(4):853-864. doi: 10.1109/TRO.2014.2307633.
本文引用的文献
1
Port Placement Planning in Robot-Assisted Coronary Artery Bypass.机器人辅助冠状动脉搭桥术中的端口放置规划
IEEE Trans Rob Autom. 2003 Oct;19(5):912-917. doi: 10.1109/TRA.2003.817502.
2
Screw-Based Motion Planning for Bevel-Tip Flexible Needles in 3D Environments with Obstacles.三维环境中带障碍物的斜尖柔性针基于螺钉的运动规划
IEEE Int Conf Robot Autom. 2008 May 19:2483-2488. doi: 10.1109/ROBOT.2008.4543586.
3
Estimation of Model Parameters for Steerable Needles.可控针模型参数的估计
IEEE Int Conf Robot Autom. 2010:3703-3708. doi: 10.1109/ROBOT.2010.5509380.
4
3D Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics.基于逆运动学的可控针3D运动规划算法
Int J Rob Res. 2009;57:535-549. doi: 10.1007/978-3-642-00312-7_33.
5
Feedback Control for Steering Needles Through 3D Deformable Tissue Using Helical Paths.使用螺旋路径对通过三维可变形组织的穿刺针进行反馈控制。
Robot Sci Syst. 2009 Jun 28;V:37. doi: 10.15607/rss.2009.v.037.
6
Kinematic state estimation and motion planning for stochastic nonholonomic systems using the exponential map.基于指数映射的随机非完整系统的运动学状态估计与运动规划
Robotica. 2008 Apr 11;26:419-434. doi: 10.1017/S0263574708004475.
7
Nonparametric Second-Order Theory of Error Propagation on Motion Groups.运动群上误差传播的非参数二阶理论
Int J Rob Res. 2008;27(11-12):1258-1273. doi: 10.1177/0278364908097583.
8
Motion Planning Under Uncertainty for Image-guided Medical Needle Steering.用于图像引导医疗针头转向的不确定性下的运动规划
Int J Rob Res. 2008;27(11-12):1361-1374. doi: 10.1177/0278364908097661.
Zotero 插件