Chongan Zhang, Zuoming Fu, Xiaoyue Liu, Guoqing Ding, Liping Qin, Peng Wang, Hong Zhang, Xuesong Ye
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引用次数: 0
Abstract
Background: In robot-assisted flexible ureteroscopy, planning a safety-enhanced path facilitates ureteroscope reaching the target safely and quickly. However, current methods rarely consider the safety impact caused by body motion of the anterior part, such as impingement on the lumen wall and sweeping motion risk, or the method can only be used in collision-free situations.
Methods: The kinematic model of the anterior part under C-shaped and S-shaped collision bending is first analysed. Considering the newly defined impingement cost and sweeping area, the differential evolution algorithm is adopted to optimise the path in the configuration space. Experiments were performed to verify the effectiveness of the method.
Results: Compared with the competing algorithm, the proposed algorithm reduced impingement cost and sweeping area by an average of 31.0% and 8.64%. Force measurement experiments verified the rationality of the impingement cost expression.
Conclusion: The experimental results proved the feasibility of the proposed path planning algorithm.
背景：在机器人辅助柔性输尿管镜检查中，规划安全增强路径有助于输尿管镜安全快速地到达目标。然而，目前的方法很少考虑前段身体运动造成的安全影响，如对管壁的撞击和扫动风险，或者该方法只能在无碰撞情况下使用：方法：首先分析了 C 形和 S 形碰撞弯曲下前部的运动学模型。考虑到新定义的撞击成本和横扫面积，采用微分进化算法优化配置空间中的路径。实验验证了该方法的有效性：结果：与竞争算法相比，所提出的算法平均降低了 31.0% 的撞击成本和 8.64% 的清扫面积。测力实验验证了撞击成本表达式的合理性：实验结果证明了所提路径规划算法的可行性。
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