CN106021935B - A kind of flexible needle puncture path appraisal procedure and system - Google Patents
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- 210000004204 blood vessel Anatomy 0.000 description 5
- 210000004872 soft tissue Anatomy 0.000 description 5
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Abstract
Flexible needle puncture path appraisal procedure and system provided by the invention, including assessment subfunction, weight vectors and barrier risk vector, are assessed in subfunction based on path sample data to path length, segmental arc number and the dimensionless normalized processing of degree of safety；Coefficient of the weight vectors as assessment subfunction, adjusts influence degree of claiming of each subfunction to valuation functions result of calculation, and each element numerical value of weight vectors has comparability on the basis of assessment subfunction is normalized；Barrier risk vector assesses the coefficient of subfunction as degree of safety, for the danger classes of each barrier in set environment, to influence the result of calculation of degree of safety subfunction.Path evaluation function is added by assessment subfunction multiplies weight vectors and the superposition of barrier risk vector, and valuation functions result of calculation numerical value is smaller, and path is more excellent.Doctor is adjusted weight vectors and barrier risk vector according to environmental characteristic and clinical experience, to influence Path selection as a result, keeping planning path more reasonable.
Description
Technical Field
The invention relates to the field of soft tissue puncture surgery, in particular to a method and a system for evaluating a puncture path of a flexible needle.
Background
Percutaneous puncture is the most commonly used interventional technique and is often used in medical implantation, pathological diagnosis, radiotherapy and other operations. In the traditional operation, the puncture is realized by adopting the linear motion of the rigid needle, the path is limited when the rigid needle is inserted in a linear way, and the target point positioning error is caused by the natural deformation of the rigid needle, so that the treatment effect is seriously influenced. In contrast, the robot-assisted flexible needle puncture realizes curvilinear motion in soft tissues by utilizing the deformation of the needle body, can flexibly avoid the obstacles such as bones, blood vessels and the like, and accurately reaches a target point.
The path planning is of great significance to the research of flexible needle puncture. At present, the existing data disclose that the flexible needle path is planned by establishing a probability density function, but the algorithm is only suitable for a barrier-free environment, and the puncture path of the flexible needle is planned by establishing a nonlinear objective function, but the method is only suitable for a circular arc path with fixed curvature. Other documents disclose the use of inverse kinematics to plan a flexible needle path, which must give the pose of the transition point in the presence of an obstacle, which does not guarantee a solution. And the flexible needle path is planned based on the fast search random tree (RRT) algorithm, so that the planning speed is improved, and the method is a planning method with high practicability. And effective path evaluation and selection after the planning result is generated are the key for completing the flexible needle puncture planning.
The dimension of each component of an evaluation function in the existing flexible needle puncture path evaluation method is not uniform, so that the weight coefficient value of each component is large, direct comparison is lacked, and doctors are difficult to effectively adjust the weight coefficient according to environmental characteristics and personal wishes. The risk degree of different obstacles in human tissues is greatly different, the different obstacles need to be treated differently in the evaluation method, for example, tissues such as large blood vessels, nerves and the like need to be far away, other soft tissue structures may only need to be bypassed, and the obstacles in the environment are treated equally by the existing evaluation method, so that the reasonability of path evaluation is influenced.
Disclosure of Invention
In view of the above, there is a need for a flexible needle puncture path assessment method with more scientific and reasonable path assessment.
In order to achieve the purpose, the following technical scheme is adopted in the application:
a flexible needle puncture path assessment method comprising the steps of:
step S10: planning a puncture path of the flexible needle, wherein the puncture path of the flexible needle is as follows:wherein,represents an ArciStarting point of (1), niTo representArc on ArciUpward unit tangent vector along the advancing direction, riRepresents an ArciRadius of (a) < i >iRepresents an ArciLength of (d);
step S20: preparing a feasible path sample;
step S30: setting a risk grade n of the barrier, a risk vector A of the barrier and a safety distance D according to the puncture path; wherein, S is A.G, A is [ a ]j]；G＝[gj](ii) a j represents the risk rating of each obstacle, j being 1,2.. n; gjRepresenting the number of obstacles with risk level j whose distance from the sample path is less than the safety distance D; a isjRepresenting a risk coefficient corresponding to the risk level j;
step S40: calculating a path length evaluation subfunction F for each sampleL:FL＝L/LavgWhere L is the length of the path, LavgIs the average of the lengths L of all sample paths; security assessment subfunction FS，FS＝S/SavgWhere S is the number of obstacles less than the safe distance from the sample path, SavgIs the average of S for all sample paths; and an arc number evaluation function FN:FN＝N/NavgWhere N is the number of arc segments of the path, NavgIs the average of N for all sample paths;
step S50: constructing a path evaluation function F, wherein F is the path length evaluation subfunction FLSafety evaluation subfunction FSArc number evaluation function FNWeighted superposition of (1);
step S60: and selecting the sample path with the minimum path evaluation function F as the optimal path.
In some embodiments, after the step S40, before the step S50, the method further comprises the following steps: setting a weight vector, W ═ W1w2w3]Wherein w is1、w2、w3Respectively expressed as path length evaluation subfunctions FLSafety evaluation subfunction FSArc number evaluation function FNThe weight coefficient of (2).
In some embodiments, the path evaluation function F,
in addition, the present application also provides a flexible needle puncture path evaluation system, comprising:
a path planning module: for planning a puncture path of the flexible needle, the puncture path of the flexible needle being:wherein,represents an ArciStarting point of (1), niTo representArc on ArciUpward unit tangent vector along the advancing direction, riRepresents an ArciRadius of (a) < i >iRepresents an ArciLength of (d);
a sample module: for preparing a feasible path sample;
a security evaluation module: the risk level n, the risk vector A and the safety distance D of the obstacle are set according to the puncture path; wherein, S is A.G, A is [ a ]j]；G＝[gj](ii) a j represents the risk rating of each obstacle, j being 1,2.. n; gjRepresenting the number of obstacles with risk level j whose distance from the sample path is less than the safety distance D; a isjRepresenting a risk coefficient corresponding to the risk level j;
path length estimation subfunction F for calculating each sampleL:FL＝L/LavgWhere L is the length of the path, LavgIs the average of the lengths L of all sample paths; security assessment subfunction FS， FS＝S/SavgWhere S is the number of obstacles less than the safe distance from the sample path, SavgIs the average of S for all sample paths; and an arc number evaluation function FN:FN＝N/NavgWhere N is the number of arc segments of the path, NavgIs the average of N for all sample paths;
a path evaluation module for constructing a path evaluation function F, wherein F is the path length evaluation subfunction FLSafety evaluation subfunction FSArc number evaluation function FNAnd selecting the sample path with the minimum path evaluation function F as the optimal path.
In some embodiments, a weight vector module is further included: set weight vector, W ═ W1w2w3]Wherein w is1、w2、w3Respectively expressed as path length evaluation subfunctions FLSafety evaluation subfunction FSArc number evaluation function FNThe weight coefficient of (2).
In some embodiments, the path evaluation function F,
by adopting the technical scheme, the invention has the beneficial effects that:
according to the flexible needle puncture path evaluation method and system, an evaluation function is composed of an evaluation subfunction, a weight vector and an obstacle risk vector, wherein the evaluation subfunction carries out dimensionless normalization processing on path length, arc segment number and safety degree based on path sample data; the weight vector is used as a coefficient of the evaluation subfunction and is used for adjusting the influence degree of each subfunction on the calculation result of the evaluation subfunction, and each element value of the weight vector has intuitive and contrastable performance on the basis of the normalization of the evaluation subfunction; the obstacle risk vector is used as a coefficient of a safety degree evaluation subfunction and is used for setting the danger level of each obstacle in the environment, so that the calculation result of the safety degree subfunction is influenced. The path evaluation function is formed by adding the evaluation subfunction, the multiplication weight vector and the obstacle risk vector, and the smaller the numerical value of the calculation result of the evaluation function is, the better the path is. In practical application, a doctor can adjust the weight vector and the barrier risk vector according to environmental characteristics and clinical experience, so that a path selection result is influenced, and a planned path is more reasonable.
Drawings
Fig. 1 is a flowchart illustrating steps of a flexible needle puncture path evaluation method according to the present invention.
Fig. 2 is a schematic view of a flexible needle puncture path.
FIG. 3 Flexible needle puncture Path evaluation System provided by the present application
Fig. 4 shows a schematic diagram of 40 sample paths.
FIGS. 5(a), (b) and (c) show the case where F isLPath of minimum value, FSPath of minimum value, FNThe path with the smallest value.
FIG. 6 is a diagram that favors the result of path selection, w, when the path is shortest and the number of arcs is lowest1＝3，w2＝1，w3＝3，n＝1，a1＝1。
FIG. 7 results when the obstacle was classified into two grades, w1＝1，w2＝1，w3＝1，n＝2，a1＝1，a2＝5。
FIG. 8 shows the result of the tendency to select the safest route in an environment with few obstacles and large obstacles, w1＝1，w2＝5，w3＝1，n＝1，a1＝1。
FIG. 9 shows the result of the tendency to select the shortest route in an environment with many obstacles and small obstacles, w1＝5，w2＝1，w3＝1，n＝1，a1＝1。
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Referring to fig. 1, a flow chart of steps of a flexible needle puncture path evaluation method 100 provided by the present invention includes the following steps:
step S10: planning a puncture path of the flexible needle, wherein the puncture path of the flexible needle is as follows:wherein,represents an ArciStarting point of (1), niTo representArc on ArciUpward unit tangent vector along the advancing direction, riRepresents an ArciRadius of (a) < i >iRepresents an ArciLength of (d);
it can be understood that when the flexible needle with the oblique tip provided by the invention is punctured in soft tissue, the needle body bends under the extrusion force of the soft tissue, and the flexible needle performs circular arc motion. In the puncture process, the movement of the flexible needle is controlled by the feed movement and the rotation movement of the needle to form a multi-section continuous circular arc track with variable radius. Thus, the puncture path of the flexible needle is described as a sequence of arcs:
wherein,represents an ArciStarting point of (1), niTo representArc on ArciUpward unit tangent vector along the advancing direction, riRepresents an ArciRadius of (a) < i >iRepresents an ArciLength of (d).
A basic puncture path is shown in FIG. 2, whereIs ArciEnd point, OiIs ArciThe center of the circle.
Step S20: preparing a feasible path sample;
step S30: setting a risk grade n of the barrier, a risk vector A of the barrier and a safety distance D according to the puncture path; wherein, S is A.G, A is [ a ]j]；G＝[gj](ii) a j represents the risk rating of each obstacle, j being 1,2.. n; gjRepresenting the number of obstacles with risk level j whose distance from the sample path is less than the safety distance D; a isjRepresenting a risk coefficient corresponding to the risk level j;
it will be appreciated that in a practical puncture environment, vital blood vessels and nerves etc. in the human body are sensitive to foreign objects and there is a significant risk of injury to the patient when the flexible needle is too close to the vital blood vessels and nerves etc. of the human body. Therefore, the path of the flexible needle needs to be as far away as possible from the high risk level obstacle such as the nerve in the first place. The doctor judges the risk level of the obstacle, divides the obstacle risk into n levels in advance, designs an obstacle risk vector A, and then selects a path which is far away from the high-risk obstacle, short in path and small in arc segment number. Therefore, in the security evaluation sub-function,
S＝A·G
wherein A ═ aj]；G＝[gj](ii) a j represents the risk rating of each obstacle, j being 1,2.. n; gjRepresenting the number of obstacles with risk level j whose distance from the sample path is less than the safety distance D; a isjRepresenting a risk coefficient corresponding to the risk level j; the higher the risk rank j, the greater the corresponding risk factor value.
In this embodiment, classification is performed according to the risk characteristics of the obstacles, and an obstacle risk vector is designed to be used for calculating a safety assessment subfunction, so that the influence of obstacles with different risk degrees is distinguished in path assessment.
Step S40: calculating a path length evaluation subfunction F for each sampleL:FL＝L/LavgWhere L is the length of the path, LavgIs the average of the lengths L of all sample paths; security assessment subfunction FS，FS＝S/SavgWhere S is the number of obstacles less than the safe distance from the sample path, SavgIs the average of S for all sample paths; and an arc number evaluation function FN:FN＝N/NavgWhere N is the number of arc segments of the path, NavgIs the average of N for all sample paths;
it will be appreciated that in the actual flexible needle puncture procedure, first, the planned path length is always expected to be as short as possible; secondly, if the flexible needle is too close to the obstacles such as blood vessels, the flexible needle may cause great trauma to the patient, so the flexible needle should be far away from the obstacles as much as possible; third, in order to make the control simple and accurate, the smaller the number of segments of the arc, the better. Therefore, based on the above several factors, we can design 3 normalized path evaluation sub-functions:
path length evaluation subfunction FL:FL＝L/LavgWhere L is the length of the path, LavgIs the average of the lengths L of all sample paths;
security assessment subfunction FS，FS＝S/SavgWhere S is the number of obstacles less than the safe distance from the sample path, SavgIs the average of S for all sample paths;
arc number evaluation function FN:FN＝N/NavgWhere N is the number of arc segments of the path, NavgIs the average of N for all sample paths.
Step S50: constructing a path evaluation function F, wherein F is the path length evaluation subfunction FLSafety evaluation subfunction FSArc number evaluation function FNWeighted superposition of (1);
preferably, a weight vector is set, W ═ W1w2w3]Wherein w is1、w2、w3Respectively expressed as path length evaluation subfunctions FLSafety evaluation subfunction FSArc number evaluation function FNThe weight coefficient of (2).
It will be appreciated that the importance of the different sub-functions may be reflected by setting the weighting coefficients. In different cases, the weighting coefficients of the path evaluation function may be adjusted based on the experience of the physician to reflect the priority of the path selection.
The function F of the path estimation is described,
it can be understood that the normalized design of the path evaluation subfunction and the corresponding weight vector thereof enable a doctor to intuitively adjust the weight vector according to own experience and environmental characteristics to influence a path selection strategy.
Step S60: and selecting the sample path with the minimum path evaluation function F as the optimal path.
Referring to fig. 3, the present application provides a flexible needle puncture path evaluating system 200, comprising: a path planning module 210, a sample module 220, a security evaluation module 230, a path processing module 240, a weight vector module 250, and a path evaluation module 260. Wherein:
the path planning module 210 is configured to plan a puncture path of the flexible needle, where the puncture path of the flexible needle is:wherein,represents an ArciStarting point of (1), niTo representArc on ArciUpward unit tangent vector along the advancing direction, riRepresents an ArciRadius of (a) < i >iRepresents an ArciLength of (d); the sample module 220 is used to prepare feasible path samples; the safety evaluation module 230 is configured to set a risk level n of the obstacle, an obstacle risk vector a, and a safety distance D according to the puncture path; wherein, S is A.G, A is [ a ]j]；G＝[gj](ii) a j represents the risk of each obstacleGrade, j ═ 1,2.. n; gjRepresenting the number of obstacles with risk level j whose distance from the sample path is less than the safety distance D; a isjRepresenting a risk coefficient corresponding to the risk level j; the path processing module 240 is used for calculating a path length evaluation subfunction F of each sampleL:FL＝L/LavgWhere L is the length of the path, LavgIs the average of the lengths L of all sample paths; security assessment subfunction FS，FS＝S/SavgWhere S is the number of obstacles less than the safe distance from the sample path, SavgIs the average of S for all sample paths; and an arc number evaluation function FN:FN＝N/NavgWhere N is the number of arc segments of the path, NavgIs the average of N for all sample paths; the weight vector module 250 is used to set a weight vector, W ═ W1w2w3]Wherein w is1、w2、w3Respectively expressed as path length evaluation subfunctions FLSafety evaluation subfunction FSArc number evaluation function FNThe weight coefficient of (a); the path evaluation module 260 is used for constructing a path evaluation function F, which is the path length evaluation sub-function FLSafety evaluation subfunction FSArc number evaluation function FNAnd selecting the sample path with the minimum path evaluation function F as the optimal path.
According to the flexible needle puncture path evaluation method and system, an evaluation function is composed of an evaluation subfunction, a weight vector and an obstacle risk vector, wherein the evaluation subfunction carries out dimensionless normalization processing on path length, arc segment number and safety degree based on path sample data; the weight vector is used as a coefficient of the evaluation subfunction and is used for adjusting the influence degree of each subfunction on the calculation result of the evaluation subfunction, and each element value of the weight vector has intuitive and contrastable performance on the basis of the normalization of the evaluation subfunction; the obstacle risk vector is used as a coefficient of a safety degree evaluation subfunction and is used for setting the danger level of each obstacle in the environment, so that the calculation result of the safety degree subfunction is influenced. The path evaluation function is formed by adding the evaluation subfunction, the multiplication weight vector and the obstacle risk vector, and the smaller the numerical value of the calculation result of the evaluation function is, the better the path is. In practical application, a doctor can adjust the weight vector and the barrier risk vector according to environmental characteristics and clinical experience, so that a path selection result is influenced, and a planned path is more reasonable.
Examples
The simulation by adopting the method is as follows:
in the designed simulation environment, there are 6 obstacles A, B, C, D, E, F with different sizes, and the interval of the environment is 20cm high and 20cm wide. In the simulation, puncture points x are definedininIs (6,0), target point xgoalAnd (6,19), the needle insertion direction is perpendicular to the x-axis, and the needle surface faces the y-axis. 40 sample paths are planned based on the fast-expanding random tree algorithm, as shown in fig. 4. Without considering the obstacle ranking, a path that minimizes each path evaluation sub-function may be calculated, as shown in fig. 5(a), (b), and (c).
Different weight vectors and barrier risk vectors are respectively set aiming at different environmental characteristics, so that different optimal path selection results can be obtained: w is set with equal bias toward shortest path and least number of arc segments1＝3，w2＝1，w3＝3，n＝1，a11, as shown in fig. 6; in the case of dividing the obstacle into two levels, w is set1＝1，w2＝1，w3＝1，n＝2，a1＝1，a2As shown in fig. 7, the black obstacle (A, B, E, F) risk is lower, with a risk rating of 1; black obstacles (C, D) are at higher risk, with a risk rating of 2; in an environment with few and large obstacles, the safest route tends to be selected, and w is set1＝1，w2＝5，w3＝1，n＝1，a11, as shown in fig. 8; in an environment with many and small obstacles, the shortest route tends to be selected and w is set1＝5，w2＝1，w3＝1，n＝1，a11 as shown in fig. 9.
Although the present invention has been described with reference to the presently preferred embodiments, it will be understood by those skilled in the art that the foregoing description is illustrative only and is not intended to limit the scope of the invention, as claimed.
Claims (2)
1. A flexible needle puncture path evaluation method is characterized by comprising the following steps:
step S10: planning a puncture path of the flexible needle, wherein the puncture path of the flexible needle is as follows:wherein,represents an ArciStart of (2)Point, niTo representArc on ArciUpward unit tangent vector along the advancing direction, riRepresents an ArciRadius of (a) < i >iRepresents an ArciLength of (d);
step S20: preparing a feasible path sample;
step S30: setting a risk grade n of the barrier, a risk vector A of the barrier and a safety distance D according to the puncture path; wherein, S is A.G, A is [ a ]j]；G＝[gj](ii) a j represents the risk rating of each obstacle, j being 1,2.. n; gjRepresenting the number of obstacles with risk level j whose distance from the sample path is less than the safety distance D; a isjRepresenting a risk coefficient corresponding to the risk level j;
step S40: calculating a path length evaluation subfunction F for each sampleL，FL＝L/LavgWhere L is the length of the path, LavgIs the average of the lengths L of all sample paths; security assessment subfunction FS，FS＝S/SavgWhere S is the number of obstacles less than the safe distance from the sample path, SavgIs the average of S for all sample paths; and an arc number evaluation function FN，FN＝N/NavgWhere N is the number of arc segments of the path, NavgIs the average of N for all sample paths;
step S50: constructing a path evaluation function F, wherein F is the path length evaluation subfunction FLSafety evaluation subfunction FSArc number evaluation function FNWeighted superposition of (1);
step S60: selecting the sample path with the minimum path evaluation function F as an optimal path;
the method further includes the following steps after the step S40 and before the step S50: set weight vector W ═ W1w2w3]Wherein w is1、w2、w3Respectively expressed as path length pre-evaluation sub-functions FLSafety evaluation subfunction FSAnd an arc number evaluation function FNThe weight coefficient of (a);
the function F of the path estimation is described,
2. a flexible needle puncture path evaluation system, comprising:
a path planning module: for planning a puncture path of the flexible needle, the puncture path of the flexible needle being:wherein,represents an ArciStarting point of (1), niTo representArc on ArciUpward unit tangent vector along the advancing direction, riRepresents an ArciRadius of (a) < i >iRepresents an ArciLength of (d);
a sample module: for preparing a feasible path sample;
a security evaluation module: the risk level n, the risk vector A and the safety distance D of the obstacle are set according to the puncture path; wherein, S is A.G, A is [ a ]j]；G＝[gj](ii) a j represents the risk rating of each obstacle, j being 1,2.. n; gjRepresenting the number of obstacles with risk level j whose distance from the sample path is less than the safety distance D; a isjRepresenting a risk coefficient corresponding to the risk level j;
a path processing module: path length estimation subfunction F for calculating each sampleL，FL＝L/LavgWhere L is the length of the path, LavgIs the average of the lengths L of all sample paths; security assessment subfunction Fs，FS＝S/SavgWhere S is the number of obstacles less than the safe distance from the sample path, SavgIs the average of S for all sample paths; and an arc number evaluation function FN，FN＝N/NavgWhere N is the number of arc segments of the path, NavgIs the average of N for all sample paths;
a path evaluation module for constructing a path evaluation function F, wherein F is the path length evaluation subfunction FLSafety evaluation subfunction FSArc number evaluation function FNThe weighted superposition, and selecting the sample path with the minimum path evaluation function F as the optimal path;
further comprising a weight vector module: for setting weight vector W ═ W1w2w3]Wherein w is1、w2、w3Respectively expressed as path length pre-evaluation sub-functions FLSafety evaluation subfunction FSAnd an arc number evaluation function FNThe weight coefficient of (a);
the function F of the path estimation is described,
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| CN106650298A (en) * | 2017-01-11 | 2017-05-10 | 湘潭大学 | Flexible needle route planning method based on environmental characteristics and stochastic method |
| CN110083156A (en) * | 2019-04-25 | 2019-08-02 | 北京航空航天大学 | Needle-driven Robot flexible needle trajectory path planning device and method based on wolf pack algorithm |
| CN111428919B (en) * | 2020-03-17 | 2022-07-19 | 深圳先进技术研究院 | Path planning method and device, electronic equipment and storage medium |
| CN112163987B (en) * | 2020-07-06 | 2024-01-26 | 中国科学院苏州生物医学工程技术研究所 | Puncture path planning system |
| 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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