Dynamic Path Planning of the Robotic Surgical Needle

摘要

Robotics surgery is fast becoming ubiquitous in medical practices from cancer treatment to prostrate treatment to neurological problems. One of the major problem associated with this invasive surgery is how to minimize the loss of the adjacent tissues and accuracy of the reaching the target. In the present paper we have presented our work related to bevel tip surgical flexible needle supported by multi degree of freedom robot. We have modelled the mathematical equation and solved it using evolutionary optimization technique, Firefly Algorithm. Our aim is to minimize the losses to the adjacent tissues with high accuracy of reaching target. From the robot a probe and robotic needle is attached that traversed the curvilinear path. Probabilistic random tree method based method is applied to reach the lesion starting from hole in the skill. Initial and final point, target, is feed as a target. The constrained with risk map is defined that must be avoided to minimizing the loss of the sensitive organs. Finally the whole problem is reduced to optimization problem with given constant. A gelatin based material is used to mimic the brain tissue with the help of this indentation by needle is shown to find the optimized path.