A novel path planning algorithm for the vascular interventional surgical robotic doctor training system

Abstract

Cerebrovascular disease is a serious threat to people's health. Because of its small trauma, quick recovery and good effect, vascular interventional surgery is widely used. Through the use of VR (virtual reality) technology of vascular interventional surgery doctor training system, people can perform surgery simulation, which can improve the doctor's ability to operate surgery. Aiming at path planning problem of the cerebral vascular interventional surgery, this paper proposed a fast path planning algorithm. Firstly, the algorithm projects all obstacles in virtual scene onto the projection matrix of the scene, which uses different color values to express, then gets its surrounded around the barrier route, on the basis, obtains local obstacle avoidance path, generates the basic path, uses algorithm 2 to optimize, and obtains an optimal path planning from the initial point to end point. Finally, we conducted a verification experiment, obtained the error histogram between the real path and the path. The average error is 0.3 mm, due to operation error, the error will be further decreased, which conforms the need of the cerebral vascular interventional surgery.