Research On Path Planning Algorithm Of Concentric Tube Robot In Brain Surgery

With the enrichment of people's material life and the extension of human life,the number of patients with brain surgery diseases is increasing year by year.At the same time,with the improvement of medical level,minimally invasive or non-invasive surgery has gradually become the mainstream treatment in brain surgery.This technology has the characteristics of small trauma,quick r ecovery,light pain and low side effects.The concentric tube robot studied in this subject is a device used in minimally invasive surgery for brain surgery,which can assist doctors in performing surgical operations on the lesion.In order to make the concentric tube robot reach the lesion from the insertion point without collision in the minimally invasive surgery of brain surgery,this paper studies the path planning algorithm and motion control of the concentric tube robot.Aiming at the application of concentric tube robot in brain surgery,this paper designs a concentric tube robot system,establishes two new methods of concentric tube inverse kinematics,and proposes RRT*-smooth algorithm and concentricity for concentric tube robot path planning.The motion control strategy of the tube robot.This paper builds a concentric tube robot system by selecting the relevant equipment,and proposes a design scheme for concentric tube parameters.At the same time of constructing the system,this paper studies the forward and inverse kinematics equations of concentric tube robots.In order to solve the problem of inverse kinematics,the geometric analysis method and lookup table method are proposed.On this basis,the paper also takes the influence of time and path on the concentric tube robot into considerstion.This paper proposes the RRT*-smooth algorithm in the process of doing research on the application of the PRM algorithm and the RRT* algorithm,which benefits to achieve relatively optimal and collision-free from the starting point to the target point in both time and path.In the experiment,according to the non-collision criterion and the running speed of the concentric tube robot,the motion control strategy of the concentric tube robot is proposed.The simulation and experimental results of the path planning algorithm in the Lego model,skull and brain model show that the concentric tube robot can reach the target position without collision and with less time and the path is short within the error tolerance,and therefore the proposed method has been verified.