Motion planning for active cannulas
Motion planning for active cannulas
复制标题
主动插管的运动规划
DOI：
--
复制
发表时间：
2009
期刊：
影响因子：
--
通讯作者：
R. Alterovitz
中科院分区：
文献类型：
--
作者：
Lisa A. Lyons;R. Webster;R. Alterovitz
有源套管是一种由薄的、预弯曲的、可伸缩的管组成的医疗器械，可以实现许多新的外科手术。规划这些设备的最佳运动是具有挑战性的，因为它们的运动学，其中涉及梁力学和空间曲线。在本文中，我们提出了一种基于优化的运动规划算法，该算法计算动作以引导设备到达目标点，同时避开环境中的障碍物。该规划器采用简化的主动插管运动学模型，忽略了梁力学，并侧重于规划（分段圆形）空间曲线。该方法旨在用于图像引导手术，其中目标和障碍物可以从术前图像中分割出来。给定目标位置、起始位置和方向以及障碍物的几何表示，该算法计算有源插管的每个管的插入长度和方向角，使得器械遵循无碰撞路径到达目标。我们制定的规划问题作为一个有约束的非线性优化问题，并使用惩罚的方法将此配方转化为一系列更容易解决的无约束优化问题。仿真证明了具有球形障碍物的3管主动插管的最佳路径。该算法通常在标准PC上不到1分钟内计算计划。
An active cannula is a medical device composed of thin, pre-curved, telescoping tubes that may enable many new surgical procedures. Planning optimal motions for these devices is challenging due to their kinematics, which involve both beam mechanics and space curves. In this paper, we propose an optimization-based motion planning algorithm that computes actions to guide the device to a target point while avoiding obstacles in the environment. The planner uses a simplified active cannula kinematic model that neglects beam mechanics, and focuses on planning for the (piecewise circular) space curves. The method is intended for use in image-guided procedures where the target and obstacles can be segmented from preprocedure images. Given the target location, the start position and orientation, and a geometric representation of obstacles, the algorithm computes the insertion length and orientation angle for each tube of the active cannula such that the device follows a collision-free path to the target. We formulate the planning problem as a constrained nonlinear optimization problem and use a penalty method to convert this formulation into a sequence of more easily solvable unconstrained optimization problems. Simulations demonstrate optimal paths for a 3-tube active cannula with spherical obstacles. The algorithm typically computes plans in less than 1 minute on a standard PC.