Needle Deflection And Trajectory Planning Based On Image

Minimally invasive surgery has the advantages of small wound,fast recovery,lower suffering suffered by patients,etc.As an important part of minimally invasive surgery,epidermal needle insertion has also been paid attention to.With dermal needle insertion stoking in more and more operations play a role,the precision of insertion needles is more and more demanding.It also requires more precise planning of the path of the insertion needle,and a more thorough analysis of the movement patterns of the insertion needle within the organization.This article focuses on the following aspects:First of all,assuming that the deflection path of the needle is a circular arc with fixed radius,based on this characteristic,the area that the needle can reach is analyzed,and the coordinate transformation equation from the needle tip to the tail of the needle is established to realize the description of the needle's attitude and position.The trajectory of the insertion needle is extracted,the radius fitting model is established,the coordinate points of the extracted trajectory of the insertion needle are analyzed,and the bending radius value of the needle body is fitted.Secondly,six different insertion needles were used for insertion experiments,the insertion tissue was divided into PVA prosthetic tissue and animal tissue two kinds,the insertion needle is divided into two kinds of core and for the core.The experimental platform is set up to capture the image of the insertion process,the image is pre-processed with MATLAB,and the algorithm of the radius fitting model is completed.Establish a GUI interface in MATLAB,reduce the flow of operations during data processing,and make the entire process more visual.Finally,the experiment was designed to carry out a non-deflection insertion experiment between PVA prosthesis and animal tissue.The radius of the experimental image was fitted,and the deflection radius of six different insertion needles under the two tissues was counted and analyzed.Based on the non-deflection experiment,a deflection experiment is added,and the radius value of the insertion needle is fitted by using the radius fitting model.The radius value fitted by the above two groups of experiments combines the starting coordinate point and the target coordinate point to use the path planning algorithm for path planning.The simulation trajectory is compared with the experimental trajectory,and the accuracy of the path planning algorithm is evaluated.