Biopsy Needle Puncture Path Planning Method Using 3D Ultrasound Images

Interventional procedures are widely used in targeted drug therapy and lumbar puncture.In percutaneous inserted operation,ultrasound images are well applied to the guidance of interventional operation,because of their high real-time performance and low cost performance.In puncturing operations,the path planning process of the needle can avoid the obstacles well and guarantee the puncturing needle reach the center of the lesion effectively,which has been paid more attention.Therefore,this paper focuses on the force model of puncturing needle and the three-dimensional path planning of puncture based on ultrasound images.This article is devoted to combining the three-dimensional puncture path planning of the flexible needle base on three-dimensional(3D)ultrasound images.And it aims to make the puncturing path more practical.This paper mainly contains the following contents.During puncture,the main obstacle which should be avoided in the path planning is the blood vessel.We need to identify the blood vessels in ultrasound images.The vascular recognition algorithm based on Hessian matrix is proposed to identify the size and location information of the vascular area in the 3D ultrasound images.The information can be used to avoid obstacles during path planning,and guide the following 3D path planning.The force model is mainly aimed at analyzing the degree of bending deformation of the needle.The tissue chosen is the liver tissue,and the bending radius model of the flexible needle is established.Under the condition of complete model,the finite element simulation using software Abaqus is used to imitate and analyze the whole needle puncture process.The curvature of the needle is obtained by simulation and analysis,and the results are used to guide the next 3D puncturing path planning process.The path planning is based on the obstacle information and the bending deformation equation of the needle.The algorithm of fast search random tree is improved,and particle swarm optimization is applied to the three-dimensional path planning.Two methods of 3D path planning are proposed: 3D path planning based on improved RRT algorithm and 3D path planning based on particle swarm optimization algorithm.In this paper,the path planning process of the two methodsare introduced,and the path planning results of the two path planning methods are compared and analyzed.Finally the in-vitro experiment is implemented to verify the three-dimensional path planning algorithm.Using the manipulator to assist the puncture of the agar body with obstacles and target points inside.The actual trajectory of the needle and the trajectory of the simulation is compared.It is proved that the 3D path planning algorithm is reliable and effective.