Segmentation-informed sampling planning algorithm and dynamic simulation of a bronchial interventional diagnostic robot
- VernacularTitle:支气管介入诊断机器人的分段知情采样规划算法与动力学仿真
- Author:
Chao GUO
1
;
Xiangrong TANG
2
,
3
;
Ke ZHAO
1
;
Shanqing LI
1
;
Jinchang LIU
4
Author Information
1. Department of Thoracic Surgery, Peking Union Medical College Hospital, Chinese Academy of Medical Sciences & Peking Union Medical College, Beijing, 100730, P. R. China
2. School of Automation, Beijing Information Science and Technology University, Beijing, 100192, P. R. China;
3. Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, P. R. China
4. High-tech Research Development Center of Ministry of Science and Technology, Beijing, 100044, P. R. China
- Publication Type:Journal Article
- Keywords:
Bronchial intervention;
continuum robot;
dynamic simulation;
path planning
- From:
Chinese Journal of Clinical Thoracic and Cardiovascular Surgery
2022;29(10):1260-1269
- CountryChina
- Language:Chinese
-
Abstract:
Objective To propose a path planning method for precise robot-assisted bronchial intervention. Methods In the MuJoCo dynamic simulation environment, a simulation model and a simulated bronchus model which could accurately represent the motion process of the robot were built. Based on the Informed RRT* algorithm, the known spatial information was used to improve the path planning method and the motion characteristics of the robot were simulated to verify the ability of the robot algorithm to reach the target position. Results In the dynamic simulation environment, the robot could move as required, and could explore the target point of the planning task in a short time, and the position accuracy was improved by more than 50% compared with the existing electromagnetic navigation and other methods. Conclusion The established simulation model can restore the motion of the robot, and the robot has the ability to move in the bronchial environment. The proposed method can precisely control the simulated robot to enter the more peripheral airway position. It has the advantages of accuracy and faster speed than traditional manual interventional surgery, and can be used for the human-machine coordinated control task of robot-assisted bronchoscopy.
