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针对斜尖柔性针在复杂环境下由入针点到达病灶位置的穿刺路径问题,提出一种基于多目标粒子群优化算法(MOPSO)的路径规划方法.对软组织内柔性针运动学模型进行分析,构建控制量与柔性针穿刺路径的关系;分析障碍物约束,建立障碍物约束的数学描述;然后,根据穿刺术的要求将穿刺精度、穿刺危险性和穿刺路径长度作为柔性针穿刺优化目标,将柔性针穿刺路径规划问题转化为多目标优化问题;建立了相应的多目标优化问题的数学模型,使用多目标粒子群优化算法对模型进行优化求解.最后通过仿真实验证明了所提方法的有效性,并仿真分析了穿刺路径的在线修正问题.
Aiming at the piercing path of acupoint flexible needle from the entry point to the lesion in complex environment, a path planning method based on multi-objective particle swarm optimization (MOPSO) is proposed. The kinematic model of flexible needle in soft tissue is analyzed, The relationship between control volume and needle puncture path was established. The obstacle constraint was analyzed and a mathematical description of obstacle constraint was established. Then, the puncture precision, puncture risk and puncture path length were taken as the targets of needle puncture optimization. The problem of flexible needle penetration path planning is transformed into a multi-objective optimization problem. A mathematical model of multi-objective optimization problem is established, and the multi-objective particle swarm optimization algorithm is used to optimize the model. Finally, the simulation results show the effectiveness of the proposed method , And simulated the online correction of puncture path.