Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, China.
Weihai Research Institute, Harbin University of Science and Technology, Weihai, China.
Int J Med Robot. 2024 Dec;20(6):e70010. doi: 10.1002/rcs.70010.
Saturated biopsy is widely used in a histopathological examination of prostate biopsy surgery by expanding the target regions and the increasing the number of insertions.
The paper proposed a path planning algorithm for multiple targets with a single entry for a cannula flexible needle with variable curvatures. The algorithm is based on modified rapidly-exploring random trees (RRTs), and the variable-curvature motions of the flexible needle are used to achieve optimal path.
The simulation results show that the algorithm has a better form of the paths. The experimental results of five trials showed that the error was 1.42 ± 1.57 mm (mean ± RMSE), and the maximum error was 1.8 mm, which proves high accuracy and effectiveness of the proposed path planning algorithm for multiple targets with a single entry.
This research provides a new solution for prostate saturated biopsy surgery and has high value in future clinical application.
饱和活检在前列腺活检手术的组织病理学检查中被广泛应用，通过扩大目标区域和增加插入次数。
本文提出了一种针对单入口多目标的导管式柔性针的路径规划算法，该算法基于改进的快速随机搜索树（RRT），利用柔性针的可变曲率运动来实现最优路径。
模拟结果表明，该算法具有更好的路径形态。五次试验的实验结果表明，误差为 1.42±1.57mm（平均值±均方根误差），最大误差为 1.8mm，证明了该多目标单入口路径规划算法具有较高的准确性和有效性。
本研究为前列腺饱和活检手术提供了新的解决方案，在未来的临床应用中具有很高的价值。
