| 柔性针穿刺路径规划综述 |
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| 引用本文： | 张永德,赵燕江,涂飞,陈浩,张艳华.柔性针穿刺路径规划综述[J].哈尔滨理工大学学报,2011,16(4):7-11. |
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| 作者姓名： | 张永德 赵燕江 涂飞 陈浩 张艳华 |
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| 作者单位： | 1. 哈尔滨理工大学智能机械研究所,黑龙江哈尔滨,150080
2. 哈尔滨医科大学附属肿瘤医院,黑龙江哈尔滨,150081 |
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| 基金项目： | 国家自然科学基金(51075105); 哈尔滨市科技创新基金人才项目(2011RFXXS075); 黑龙江省教育厅科学技术研究项目(12511086) |
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| 摘 要： | 针对斜尖柔性针穿刺路径规划问题,全面、系统地总结了路径规划的研究现状.根据柔性针穿刺路径的特点,将路径分为5种形式,并定义了名称.将路径规划研究按照路径维数、路径形式、规划方向和规划算法进行分类,并分别给出定义.详细总结了4种规划算法的实现及其特点,并提出了路径规划当前存在的问题和未来的发展趋势.
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| 关 键 词： | 柔性针 路径规划 穿刺特点 微创手术 |
A Review on Path Planning of Flexible Needle |
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| ZHANG Yong-de,ZHAO Yan-jiang,TU Fei,CHEN Hao,ZHANG Yan-hua.A Review on Path Planning of Flexible Needle[J].Journal of Harbin University of Science and Technology,2011,16(4):7-11. |
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| Authors: | ZHANG Yong-de ZHAO Yan-jiang TU Fei CHEN Hao ZHANG Yan-hua |
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| Affiliation: | ZHANG Yong-de1,ZHAO Yan-jiang1,TU Fei1,CHEN Hao1,ZHANG Yan-hua2 (1.Intelligent Machine Institute,Harbin University of Science and Technology,Harbin 150080,China,2.Cancer Hospital Harbin Medical University,Harbin 150081,China) |
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| Abstract: | Aiming at the path planning of flexible needle,this paper comprehensively and systematically concluded the research status of the path planning.Due to the characteristics of needle puncture paths,we defined five different styles of paths.The path planners are defined and classified by path dimensions,path styles,planning directions and planning algorithms.Then we particularly summed up the realizations and characteristics of the four planning algorithms.Finally,we proposed the existing problems and the futu... |
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| Keywords: | flexible needle path planning puncture characteristic minimally invasive surgery |
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