Path Planning for Multiple Targets for Cannula Flexible Needle With Variable-Curvature Trajectories.

Abstract

Background: 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.

Methods: 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.

Results: 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.

Conclusions: This research provides a new solution for prostate saturated biopsy surgery and has high value in future clinical application.