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International Journal of Computer Assisted Radiology and Surgery

Erschienen in:

11.05.2018 | Original Article

Robust path planning for flexible needle insertion using Markov decision processes

verfasst von: Xiaoyu Tan, Pengqian Yu, Kah-Bin Lim, Chee-Kong Chui

Erschienen in: International Journal of Computer Assisted Radiology and Surgery | Ausgabe 9/2018

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Abstract

Purpose

Flexible needle has the potential to accurately navigate to a treatment region in the least invasive manner. We propose a new planning method using Markov decision processes (MDPs) for flexible needle navigation that can perform robust path planning and steering under the circumstance of complex tissue–needle interactions.

Methods

This method enhances the robustness of flexible needle steering from three different perspectives. First, the method considers the problem caused by soft tissue deformation. The method then resolves the common needle penetration failure caused by patterns of targets, while the last solution addresses the uncertainty issues in flexible needle motion due to complex and unpredictable tissue–needle interaction.

Results

Computer simulation and phantom experimental results show that the proposed method can perform robust planning and generate a secure control policy for flexible needle steering. Compared with a traditional method using MDPs, the proposed method achieves higher accuracy and probability of success in avoiding obstacles under complicated and uncertain tissue–needle interactions. Future work will involve experiment with biological tissue in vivo.

Conclusion

The proposed robust path planning method can securely steer flexible needle within soft phantom tissues and achieve high adaptability in computer simulation.

Vorheriger Artikel Automatic planning of needle placement for robot-assisted percutaneous procedures

Nächster Artikel Laparoscopic training using a quantitative assessment and instructional system

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Titel: Robust path planning for flexible needle insertion using Markov decision processes
verfasst von: Xiaoyu Tan
Pengqian Yu
Kah-Bin Lim
Chee-Kong Chui
Publikationsdatum: 11.05.2018
Verlag: Springer International Publishing
Erschienen in: International Journal of Computer Assisted Radiology and Surgery / Ausgabe 9/2018
Print ISSN: 1861-6410
Elektronische ISSN: 1861-6429
DOI: https://doi.org/10.1007/s11548-018-1783-x

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Abstract

Purpose

Methods

Results

Conclusion

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