CN102920510A - Path planning method for flexible puncture needle - Google Patents
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Abstract
The invention provides a path planning method for a flexible puncture needle. The path planning method comprises the following steps of: inputting path planning parameters; according to the path planning parameters, calculating by utilizing a shortest arc length solving algorithm to obtain a static shortest path; and adjusting and optimizing the static shortest path. The path planning method for the flexible puncture needle has less damage to patients, flexible syringe needle, and simple and feasible algorithm.
Description
Technical field
The present invention relates to the physiotherapy equipment field, particularly a kind of paths planning method of flexible puncture needle.
Background technology
Wicresoft's interventional therapeutic technique is the medical skill of commonly using, and under medical image guiding, with the wound of minimum utensil or medicine is placed to pathological tissues (target spot), and what be widely used in live body pathologic finding, local organization and organ decides delivery and operation etc.Wicresoft's interventional therapy is commonly used puncture technique, and puncture is that special needle is thrust body cavity extracting secretions, or a kind of Clinics of injecting gas, contrast agent, medicine.Puncture needle is divided into two types of rigid needle and flexible needles, conventional rigid has larger wound for tissue, and flexible puncture needle has good pliability, can utilize the lateral action power of oblique prong head and tissue, realize the movement locus such as straight line and camber line, thereby can arrive pathological tissues so that puncture needle is walked around the tissues such as blood vessel, nerve, skeleton, reduce the puncture operation to the wound of tissue.
Because the puncture needle body can produce squeezing action after entering human body, cause human tissue organ's distortion, simultaneously patient's body temperature, blood pressure, the factor such as palpitate quickly also can cause the slight deformation of human tissue organ, puncture path will be made timely adjustment according to the deformation of human tissue organ, avoids stabbing histoorgan.Therefore according to the degree of depth of pathological tissues, the distributed model of histoorgan, select appropriate stomion and the shortest puncture path of puncturing into, utilize medical image to follow the tracks of the movement locus of needle point and the deformation of histoorgan, automatically adjust the speed of thrusting and the angle of bend of syringe needle, accurately control the acupuncture path, reducing the number of twists of piercing needle, make syringe needle arrive target position flexibly, accurately, is an important link in Minimally Invasive Surgery.
Summary of the invention
The present invention one of is intended to solve the problems of the technologies described above at least to a certain extent or provides at least a kind of useful commerce to select.For this reason, the object of the invention is to propose a kind of paths planning method to the less flexible puncture needle of patient's wound.
Paths planning method according to a kind of flexible puncture needle of the embodiment of the invention comprises: A. input path projecting parameter; B. according to the path planning parameter, utilize shortest arc line length derivation algorithm to calculate, obtain static shortest path; And C. adjusts optimization to static shortest path.
In one embodiment of the invention, the path planning parameter comprises: the coordinate of syringe needle initial point, deflection and curvature, the coordinate of syringe needle target spot, deflection and curvature and puncture needle maximum curvature.
In one embodiment of the invention, step B comprises: B1. calculates the initial track circle at initial point place and the termination locus circle at target spot place according to the path planning parameter; B2. will make straight line between initial point and target spot, straight line is the obstacle circle through the barrier in the zone is abstract, and be labeled as successively N obstacle circle, wherein N represents the positive integer sequence; B3. successively between initial track circle and the first obstacle circle, organize between two adjacent obstacles circles more, and do tangent line between N obstacle circle and the termination locus circle, obtain a plurality of key points and many tangent sections; And the arc section between B4. many tangent sections of connection and a plurality of adjacent two key points, obtain static shortest path.
In one embodiment of the invention, among the step B3, when making tangent line between two adjacent circles, when the deflection of Origin And Destination is all when clockwise or counterclockwise, the tangent line type is outer tangent line; Perhaps when the deflection of Origin And Destination was respectively clockwise and counterclockwise, the tangent line type was internal tangent.
In one embodiment of the invention, step C comprises: in the puncture operation process, according to the deformation situation of tissue, readjust the path planning parameter, repeated execution of steps B adjusts puncture path, optimizes puncture path by the feed speed and the roll rate that change syringe needle.
The paths planning method of flexible puncture needle of the present invention is less to patient's damage, and syringe needle is flexible, and algorithm is simple.
Additional aspect of the present invention and advantage in the following description part provide, and part will become obviously from the following description, or recognize by practice of the present invention.
Description of drawings
Above-mentioned and/or additional aspect of the present invention and advantage are from obviously and easily understanding becoming the description of embodiment in conjunction with following accompanying drawing, wherein:
Fig. 1 is the flow chart of the paths planning method of flexible puncture needle of the present invention;
Fig. 2 is flexible puncture needle trajectory range coordinate system, stress model and componental movement path;
Fig. 3 is for calculating the sketch map of initial circular track and termination circular trace process;
Fig. 4 is the sketch map of shortest arc line computation process;
Fig. 5 is the outer tangent line of camber line and the sketch map of internal tangent;
The sketch map of Fig. 6 shortest route-planning algorithm process; And
Fig. 7 is the paths planning method path optimization flow chart of the flexible puncture needle of the embodiment of the invention.
The specific embodiment
The below describes embodiments of the invention in detail, and the example of described embodiment is shown in the drawings, and wherein identical or similar label represents identical or similar element or the element with identical or similar functions from start to finish.Be exemplary below by the embodiment that is described with reference to the drawings, be intended to for explaining the present invention, and can not be interpreted as limitation of the present invention.
In description of the invention, it will be appreciated that, term " " center "; " vertically "; " laterally "; " length "; " width "; " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", " outward ", " clockwise ", orientation or the position relationship of indications such as " counterclockwise " are based on orientation shown in the drawings or position relationship, only be for convenience of description the present invention and simplified characterization, rather than device or the element of indication or hint indication must have specific orientation, with specific orientation structure and operation, therefore can not be interpreted as limitation of the present invention.
In addition, term " first ", " second " only are used for describing purpose, and can not be interpreted as indication or hint relative importance or the implicit quantity that indicates indicated technical characterictic.Thus, one or more these features can be expressed or impliedly be comprised to the feature that is limited with " first ", " second ".In description of the invention, the implication of " a plurality of " is two or more, unless clear and definite concrete restriction is arranged in addition.
In the present invention, unless clear and definite regulation and restriction are arranged in addition, broad understanding should be done in the terms such as term " installation ", " linking to each other ", " connection ", " fixing ", for example, can be to be fixedly connected with, and also can be to removably connect, or connect integratedly; Can be mechanical connection, also can be to be electrically connected; Can be directly to link to each other, also can indirectly link to each other by intermediary, can be the connection of two element internals.For the ordinary skill in the art, can understand as the case may be above-mentioned term concrete meaning in the present invention.
In the present invention, unless clear and definite regulation and restriction are arranged in addition, First Characteristic Second Characteristic it " on " or D score can comprise that the first and second features directly contact, can comprise that also the first and second features are not directly contacts but by the other feature contact between them.And, First Characteristic Second Characteristic " on ", " top " and " above " comprise First Characteristic directly over Second Characteristic and oblique upper, or only represent that the First Characteristic level height is higher than Second Characteristic.First Characteristic Second Characteristic " under ", " below " and " below " comprise First Characteristic under the Second Characteristic and tiltedly, or only represent that the First Characteristic level height is less than Second Characteristic.
The paths planning method of flexible puncture needle of the present invention is planned in advance to the path of puncture needle before being used in the puncture operation, deformation situation according to tissue in operation process is adjusted syringe needle feed speed and roll rate, select one can make puncture needle cut-through thing arrive pathological tissues, guaranteeing again to puncture, route is the shortest, the movement locus of syringe needle meets the optimal path that flexible puncture needle locus model requires, reduce the number of twists of syringe needle, reduce to greatest extent the puncture operation to the wound of tissue.
The path optimization that defines among the present invention refers to the path of torsion resistance in controlled range that distance is the shortest, path locus is fit to flexible puncture needle realization, syringe needle of puncturing.For making those skilled in the art understand better the present invention, now do simple introduction from the mathematical model principle.
1, flexible puncture needle movement locus mathematical model
Flexible puncture needle is that a kind of syringe needle is oblique point, and needle body has the medical puncture needle of enough flexibility and toughness, and flexible puncture needle trajectory range Coordinate system definition is seen Fig. 1 a.Flexible puncture needle is when thrusting human body, owing to be subject to the lateral action power of tissue, needle shaft can bend, puncture out straight line or arc track, and flexible puncture needle stress model figure sees Fig. 1 b.Flexible needle is driven by two input variables, and one is the feed motion of needle body, and another is the spinning motion of syringe needle.The degree of depth that Feed Motion Control is thrust, spinning motion is adjusted the needle point side-play amount by changing the tiltedly direction of point of syringe needle, realizes the specific spatial pose of puncture needle.Because the motion model of flexible puncture needle uniqueness, its movement locus is to be subject to certain restrictions, and can realize locus and the movement locus of uniqueness by the coordination control of two motion input quantities.
Characteristics according to flexible puncture needle, can realize following three kinds of track forms at two-dimensional space: rectilinear motion, single movement in a curve, the motion of multi sphere line, also can realize the combination of multi-motion track, but each path can only be to be smoothly connected, break can not appear, the part path of flexible puncture needle is referring to Fig. 1 c, so the integrative medicine imaged image can carry out path planning to the path of flexible puncture needle.
For defining the mathematical model of flexible puncture needle track, define first following variable naming.Set up coordinate system in the two-dimensional space, variable-definition is as follows:
The puncture operation needs the regional S(Scope of covering);
The zone that puncture needle can pass is S
Free
Impenetrable histoorgan is defined as barrier B (Obstacle), and SetB is the set of all barriers, and barrier region is S
Obstacle
The entrance of puncture needle is I(initial);
Pathological tissues (being target spot) is F (final);
R (route) is the path of puncture needle;
Q is certain key point on the path, and Setq is the set of all key points on the path;
δ is the curvature of path R, δ
MaxRepresent the maximum curvature that puncture needle allows;
P (x, y, θ) is coordinate and the deflection of syringe needle position.
According to above-mentioned definition, the mathematical model of flexible puncture needle track is described below:
By above-mentioned model as can be known, the initial point coordinate (x of known flexible puncture needle
I, y
I) and deflection (θ
I), terminating point coordinate (x
F, y
F) and deflection (θ
F), curvature
Can calculate the distance of flexible puncture needle track.
2, shortest arc line length derivation algorithm (SLOA:the Shortest Length ofArc)
The characteristics of flexible puncture needle have determined that its movement locus is fit to adopt straight line (L), single camber line (R), straight line and single camber line (LR) and double camber (R2).Introduce algorithm take common camber line+straight line+camber line (RLR) track as example, other movement locus planning algorithm is similar.
The initial input parameter of algorithm comprises: syringe needle enters coordinate and deflection P a little
I(X
I, Y
I, θ
I) and turning radius ρ
I(=1/ δ
I); And syringe needle goes out a little coordinate and deflection P
F(X
F, Y
F, θ
F) and turning radius ρ
F(=1/ δ
F).Need to prove, can also provide curvature but not turning radius.
The minimum distance calculation method comprises the steps:
1) enters point, goes out a little coordinate and curvature by syringe needle, calculate the initial circular track (CI) of syringe needle and the coordinate in the center of circle
Stop the coordinate in circular trace (CF) and the center of circle
Computational process in the various situations such as Fig. 2 are as showing, central coordinate of circle computational process is summarized as follows formula.
2) select the larger circle (take CF as example) of radius, with | ρ
F-ρ
I| for radius, OF are that a roundlet Ct is drawn in the center of circle; Connect center of circle OI and OF, obtain centrage c, then
(process as shown in Figure 3).
3) be tangent line O from OI to Ct
IT' intersects at T' with Ct, prolongs O
FT' hands over CF in a T
s, T then
sPositive point of penetration for CF.
4) with T
sBe starting point, be O
IThe parallel lines of T' meet at CI in T
x, T then
xBe just cutting out a little of CI.
5) P
IT
xT
sP
FBe exactly P
I, P
FThe beeline of point-to-point transmission.
In this algorithm, how to try to achieve T
x, T
sCoordinate be crucial, known by Fig. 3:
According to the difference of syringe needle deflection,
With
Computational methods referring to table 1.
Table 1:
With
Computational methods
The beeline in path is:
Need to prove that the RLR track two kinds of tracks of internal tangent and outer tangent line (as shown in Figure 4) may occur because the inceptive direction angle is different from the end deflection.Particularly, when Origin And Destination has identical deflection (deflection all be clockwise or counterclockwise), this moment, straight line was outer tangent line; When Origin And Destination has different deflection (namely deflection is for clockwise, and another deflection be counterclockwise), straight line is internal tangent at this moment.The distance of inside and outside tangent line all can adopt above-mentioned algorithm to calculate.
Camber line shortest length arthmetic statement is as follows:
According to the principle of above-mentioned SLOA algorithm, the present invention proposes a kind of shortest route-planning algorithm of puncture needle.As shown in Figure 5, the paths planning method of a kind of flexible puncture needle of the embodiment of the invention may further comprise the steps:
Steps A. the input path projecting parameter.Particularly, the path planning parameter comprises: the coordinate of syringe needle initial point, deflection and curvature, the coordinate of syringe needle target spot, deflection and curvature and puncture needle maximum curvature.
B. according to the path planning parameter, utilize shortest arc line length derivation algorithm to calculate, obtain static shortest path.Particularly, step B further comprises:
B1. according to the path planning parameter, calculate the initial track circle at initial point place and the termination locus circle at target spot place; B2. will make straight line between initial point and target spot, straight line is the obstacle circle through the barrier in the zone is abstract, and be labeled as successively N obstacle circle, wherein N represents the positive integer sequence; B3. successively between initial track circle and the first obstacle circle, organize between two adjacent obstacles circles more, and do tangent line between N obstacle circle and the termination locus circle, obtain a plurality of key points and many tangent sections; And the arc section between B4. many tangent sections of connection and a plurality of adjacent two key points, obtain static shortest path.Wherein, among the step B3, when making tangent line between two adjacent circles, when the deflection of Origin And Destination is all when clockwise or counterclockwise, the tangent line type is outer tangent line; Perhaps when the deflection of Origin And Destination was respectively clockwise and counterclockwise, the tangent line type was outer tangent line
Step C. adjusts optimization to static shortest path.Particularly, in the puncture operation process, according to the deformation situation of tissue, readjust the path planning parameter, repeated execution of steps B adjusts puncture path, optimizes puncture path by the pace and the roll rate that change syringe needle.
The paths planning method of flexible puncture needle of the present invention is less to patient's damage, and syringe needle is flexible, and algorithm is simple.
For making those skilled in the art understand better the present invention, elaborate in conjunction with Fig. 6 and Fig. 7 for an embodiment.
The present invention at first carries out static path planning in the situation of not considering human tissue organ's distortion.As shown in Figure 6, according to shortest route-planning algorithm thought: at first between initial point I point and target spot F point, draw straight line, all barriers and the F point that passes is written in the set of barrier along straight line by the beginning of I point, then do tangent line by the beginning of F point to adjacent obstacle circle, calculate coordinate and the deflection of each key point.The path
Planning process be: do tangent line by the F point to the obstacle circle, intersection point is q, utilizes the SLOA algorithm to calculate the shortest path of I, q point-to-point transmission, camber line
Be shortest path; The path
Planning process be: do tangent line by F point adjacent obstacle circle in the set, intersection point is C, does the tangent line of next adjacent two obstacles circle again
Meet at respectively two circles in A, B 2 points, utilize respectively the SLOA algorithm to calculate
Length, connect I,
With F point, camber line
Be shortest path.
Need to prove, directly do tangent line to the obstacle circle by the F point, be equal in fact to make first and stop locus circle, stopping doing tangent line between locus circle and the obstacle circle again, this point is easy to be drawn by geometric knowledge.Two kinds of method differences be in, make first and stop locus circle and can calculate and stop the locus circle central coordinate of circle, this can be used for the calculating of other steps in some cases.
The arthmetic statement of the paths planning method of soft puncture needle of the present invention is as follows:
Because after puncture acupuncture tissue, tissue is produced squeezing action, can cause the micro-strain of histoorgan, and in operation process, because the factors such as patient's body temperature, blood pressure, heart beating also can cause the minor variations of histoorgan position, size, the variation of histoorgan can be observed by medical image figure, therefore can puncture path be optimized according to the deformation situation of human tissue organ, avoids unnecessary wound.The flow chart of path optimization's algorithm as shown in Figure 7.
The algorithm idea of the path optimizing planning of step C of the present invention is: before the puncture operation is carried out, at first utilize shortest route-planning algorithm to do static path planning; In the puncture operation process, according to the deformation situation of tissue, readjust the path planning parameter, puncture path by changing pace and the roll rate of syringe needle, is optimized in the path of recycling shortest route-planning algorithm correction puncture needle.This step algorithm is as follows:
Describe and to be understood in the flow chart or in this any process of otherwise describing or method, expression comprises module, fragment or the part of code of the executable instruction of the step that one or more is used to realize specific logical function or process, and the scope of preferred implementation of the present invention comprises other realization, wherein can be not according to order shown or that discuss, comprise according to related function by the mode of basic while or by opposite order, carry out function, this should be understood by the embodiments of the invention person of ordinary skill in the field.
In the description of this description, the description of reference term " embodiment ", " some embodiment ", " example ", " concrete example " or " some examples " etc. means to be contained at least one embodiment of the present invention or the example in conjunction with specific features, structure, material or the characteristics of this embodiment or example description.In this manual, the schematic statement of above-mentioned term not necessarily referred to identical embodiment or example.And the specific features of description, structure, material or characteristics can be with suitable mode combinations in any one or more embodiment or example.
Although the above has illustrated and has described embodiments of the invention, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, those of ordinary skill in the art can change above-described embodiment in the situation that does not break away from principle of the present invention and aim within the scope of the invention, modification, replacement and modification.
Claims (5)
1. the paths planning method of a flexible puncture needle is characterized in that, may further comprise the steps:
A. input path projecting parameter;
B. according to the path planning parameter, utilize shortest arc line length derivation algorithm to calculate, obtain static shortest path; And
C. static shortest path is adjusted optimization.
2. the paths planning method of flexible puncture needle as claimed in claim 1 is characterized in that, the path planning parameter comprises: the coordinate of syringe needle initial point, deflection and curvature, the coordinate of syringe needle target spot, deflection and curvature and puncture needle maximum curvature.
3. such as the paths planning method of the flexible puncture needle of claim 1 and 2, it is characterized in that step B comprises:
B1. according to the path planning parameter, calculate the initial track circle at initial point place and the termination locus circle at target spot place;
B2. will make straight line between initial point and target spot, straight line is the obstacle circle through the barrier in the zone is abstract, and be labeled as successively N obstacle circle, wherein N represents the positive integer sequence;
B3. successively between initial track circle and the first obstacle circle, organize between two adjacent obstacles circles more, and do tangent line between N obstacle circle and the termination locus circle, obtain a plurality of key points and many tangent sections; And
B4. connect the arc section between many tangent sections and a plurality of adjacent two key points, obtain static shortest path.
4. the paths planning method of flexible puncture needle as claimed in claim 3 is characterized in that, among the step B3, when making tangent line between two adjacent circles, when the deflection of Origin And Destination is all when clockwise or counterclockwise, the tangent line type is outer tangent line; Perhaps when the deflection of Origin And Destination was respectively clockwise and counterclockwise, the tangent line type was internal tangent.
5. such as the paths planning method of the flexible puncture needle of claim 3 or 4, it is characterized in that, step C comprises: in the puncture operation process, deformation situation according to tissue, readjust the path planning parameter, repeated execution of steps B adjusts puncture path, optimizes puncture path by the feed speed and the roll rate that change syringe needle.
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| CN112168349A (en) * | 2020-08-31 | 2021-01-05 | 同济大学 | Needle tracking and path display method of venipuncture robot |
| CN112700551A (en) * | 2020-12-31 | 2021-04-23 | 青岛海信医疗设备股份有限公司 | Virtual choledochoscope interventional operation planning method, device, equipment and storage medium |
| CN113934213A (en) * | 2021-10-21 | 2022-01-14 | 扬州大学 | Pre-bending flexible probe path planning method based on multi-feature movable pile optimization iteration |
| CN113934213B (en) * | 2021-10-21 | 2023-08-29 | 扬州大学 | Prebending flexible probe path planning method based on multi-feature movable pile optimization iteration |
| CN113867133A (en) * | 2021-11-03 | 2021-12-31 | 扬州大学江都高端装备工程技术研究所 | Track tracking control method integrating PID control and fuzzy switching of prediction model |
| CN113867133B (en) * | 2021-11-03 | 2024-04-16 | 扬州大学江都高端装备工程技术研究所 | Track tracking control method integrating PID control and predictive model fuzzy switching |
| CN116807611A (en) * | 2023-05-24 | 2023-09-29 | 安徽医科大学 | Flexible puncture needle path planning method based on differential evolution algorithm |
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