3D Dynamic Motion Planning for Cannula Flexible Needle

What is it about?

In the robot-assisted needle-based medical procedures, insertion motion planning is a crucial aspect. We have proposed a 3D dynamic motion planning for a cannula flexible needle regarding the nonholonomic motion of the needle tip, the presence of anatomic obstacles or sensitive organs in the needle path, and the uncertainties due to the dynamic environment.

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Why is it important?

In this work, we put forward a novel motion planning algorithm for the active needle based on an improved Rapidly-Exploring Random Tree (RRT). We proposed a greedy heuristic strategy, and combined it with the Reachablility-Guided strategy to improve the conventional RRT.