Fu Mengyu, Solovey Kiril, Salzman Oren, Alterovitz Ron
Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA.
Computer Science Department, Technion - Israel Institute of Technology, Israel.
IEEE Int Conf Robot Autom. 2022 May;2022:9652-9659. doi: 10.1109/icra46639.2022.9811850. Epub 2022 Jul 12.
Medical steerable needles can follow 3D curvilinear trajectories inside body tissue, enabling them to move around critical anatomical structures and precisely reach clinically significant targets in a minimally invasive way. Automating needle steering, with motion planning as a key component, has the potential to maximize the accuracy, precision, speed, and safety of steerable needle procedures. In this paper, we introduce the first resolution-optimal motion planner for steerable needles that offers excellent practical performance in terms of runtime while simultaneously providing strong theoretical guarantees on completeness and the global optimality of the motion plan in finite time. Compared to state-of-the-art steerable needle motion planners, simulation experiments on realistic scenarios of lung biopsy demonstrate that our proposed planner is faster in generating higher-quality plans while incorporating clinically relevant cost functions. This indicates that the theoretical guarantees of the proposed planner have a practical impact on the motion plan quality, which is valuable for computing motion plans that minimize patient trauma.
医用可操纵针能够在人体组织内沿着三维曲线轨迹行进，使其能够绕过关键解剖结构，并以微创方式精确抵达具有临床意义的靶点。以运动规划作为关键组成部分，实现针操纵自动化，有可能最大限度地提高可操纵针操作的准确性、精确性、速度和安全性。在本文中，我们介绍了首个用于可操纵针的分辨率最优运动规划器，它在运行时具有出色的实际性能，同时在有限时间内为运动规划的完整性和全局最优性提供了强有力的理论保证。与最先进的可操纵针运动规划器相比，在肺活检实际场景下的模拟实验表明，我们提出的规划器在纳入临床相关成本函数的同时，能够更快地生成更高质量的规划。这表明所提出规划器的理论保证对运动规划质量具有实际影响，这对于计算使患者创伤最小化的运动规划很有价值。
