Elastic Collision Based-Interactive Path Planning System for Vascular Intervention Robots

作     者：Sheng Cao Shuxiang Guo Jian Guo Jian Wang Bin Wang Mingchao Ding 

作者机构：Aerospace Center Hospital & the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology School of Life Science & Ministry of Industry and Information Technology Beijing Institute of Technology Beijing 100081 China Shenzhen Institute of Advanced Biomedical Robot Company Limited Shenzhen 518000 Guangdong Province China Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong 518055 China 

出 版 物：《Procedia Computer Science》 

年 卷 期：2024年第250卷

页      面：244-249页

主　　题：Elastic Collision Interactive Path Planning Vascular Intervention Robot 

摘      要：As population aging intensifies, the incidence of cardiovascular and cerebrovascular diseases has continued to rise. Vascular interventional surgery, known for its minimal trauma, rapid recovery, and clear effectiveness, requires doctors to perform procedures in radiation environments while wearing lead aprons. The advent of vascular intervention robots has provided a system-level solution to protect doctors from radiation and enhance outcomes. Currently, preoperative path planning for these robots predominantly relies on automatically generated paths, calculated by setting constraints and minimizing costs. However, this method lacks incorporation of physicians expertise and consideration of elastic collision. Therefore, this study has designed an interactive path planning system for vascular intervention robot based on elastic collision. By establishing a simulation environment, doctors can use a manipulator to control virtual catheters and guidewires. While considering deformations, they maneuver the guidewire to the target position and record the current motion trajectory to guide the procedure in actual surgeries. Experimental tests have been conducted, confirming the system s effectiveness and feasibility.