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基于几何逼近法的斜尖柔性穿刺针运动学研究 被引量:5
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作者 高德东 李强 +2 位作者 雷勇 徐飞 白辉全 《浙江大学学报(工学版)》 EI CAS CSCD 北大核心 2017年第4期706-713,751,共9页
为了使得斜尖柔性穿刺针能够精确刺中目标靶点,建立斜尖柔性穿刺针的正逆向运动学模型.大量实验研究表明,柔性穿刺针在穿刺过程中,弯曲曲率近似常量沿着由固定半径的圆弧组成的路径进针.基于柔性穿刺针这种特性,利用D-H(Denavit-Hartenb... 为了使得斜尖柔性穿刺针能够精确刺中目标靶点,建立斜尖柔性穿刺针的正逆向运动学模型.大量实验研究表明,柔性穿刺针在穿刺过程中,弯曲曲率近似常量沿着由固定半径的圆弧组成的路径进针.基于柔性穿刺针这种特性,利用D-H(Denavit-Hartenberg)参数法建立柔性穿刺针正向运动学模型;利用D-H参数法以及几何逼近法,基于针尖相对靶点的可达性条件,建立柔性穿刺针逆向运动学模型;通过仿真实验验证了所建立的柔性穿刺针运动学模型,结果表明,采用提供的运动学模型能够准确求出从进针点到靶点的所有路径. 展开更多
关键词 机器人辅助针穿刺 柔性穿刺针 运动学 几何逼近法 路径规划
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Path prediction of flexible needles based on Fokker-Planck equation and disjunctive Kriging model
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作者 Xiong Pengwen Zhou Xueting +2 位作者 Li Qian Song Aiguo Liu Peter Xiaoping 《Journal of Southeast University(English Edition)》 EI CAS 2022年第2期118-125,共8页
Path prediction of flexible needles based on the Fokker-Planck equation and disjunctive Kriging model is proposed to improve accuracy and consider the nonlinearity and anisotropy of soft tissues.The stochastic differe... Path prediction of flexible needles based on the Fokker-Planck equation and disjunctive Kriging model is proposed to improve accuracy and consider the nonlinearity and anisotropy of soft tissues.The stochastic differential equation is developed into the Fokker-Planck equation with Gaussian noise,and the position and orientation probability density function of flexible needles are then optimized by the stochastic differential equation.The probability density function obtains the mean and covariance of flexible needle movement and helps plan puncture paths by combining with the probabilistic path algorithm.The weight coefficients of the ordinary Kriging are extended to nonlinear functions to optimize the planned puncture path,and the Hermite expansion is used to calculate nonlinear parameter values of the disjunctive Kriging optimization model.Finally,simulation experiments are performed.Detailed comparison results under different path planning maps show that the kinematics model can plan optimal puncture paths under clinical requirements with an error far less than 2 mm.It can effectively optimize the path prediction model and help improve the target rate of soft tissue puncture with flexible needles through data analysis and processing of the mean value and covariance parameters derived by the probability density and disjunctive Kriging algorithms. 展开更多
关键词 flexible needle puncture NONLINEAR Fokker-Planck equation disjunctive Kriging error analysis
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