Path Planning with RRT*M Algorithm in Simulated Human Respiratory Environment
Yuhao Huang, Xiwen Fan, Kunpeng Wang, Zheng Yang, S.C. Fok · Proceedings of the World Congress on Electrical Engineering and Computer Systems and Science · 2024
Image-guided percutaneous insertion is widely applied in lung biopsy surgeries.Traditional procedure used rigid needle, which may lead to post-operation complications such as pneumothorax and hemothorax.Recent research have investigated the application of curvature-controllable steerable bevel-tip needle with pre-surgery path planning to overcome this problem.This work focuses on improving the RRT* algorithm (in terms of path length, search time and redundant random nodes) for the pre-operation path planning based on a constrained search environment.An RRT*M algorithm is proposed via probability distribution of the generation of random nodes around the ideal path connecting the start and goal points within a constraint region while avoiding the obstacles in the simulated human respiratory system.The performance of the proposed algorithm is compared with informed RRT* algorithm based on a similar 2D environment.The result indicated the potential of the proposed algorithm for lung biopsy path planning in a 3D virtual environment based on the human anatomy.