Paper Title:
Reverse Path Planning for Flexible Needle in 2D Soft Tissue with Obstacles
  Abstract

In clinic it is of very practical significance to optimize the entry point and pose in path planning. We proposed a reverse path planning algorithm adopting multiform combined paths based on the improved kinematic model of flexible needle, and the objective function is established. Utilizing the reversibility of the path, we started from the target to optimize the whole path including the entry point and pose. Then we optimally calculated and simulated in the environment with obstacles. Results show that this algorithm effectively makes the needle steer clear of obstacles to reach the target precisely, and gains the entry point and pose at the same time, guaranteeing the optimal path.

  Info
Periodical
Chapter
Chapter 7: Computer Application in Design and Manufacturing (1)
Edited by
Dongye Sun, Wen-Pei Sung and Ran Chen
Pages
4132-4137
DOI
10.4028/www.scientific.net/AMM.121-126.4132
Citation
Y. J. Zhao, Y. D. Zhang, F. Tu, "Reverse Path Planning for Flexible Needle in 2D Soft Tissue with Obstacles", Applied Mechanics and Materials, Vols. 121-126, pp. 4132-4137, 2012
Online since
October 2011
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Price
$32.00
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