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3D Bevel-Tip Needle Insertion Trajectory Planning via Computational Optimal Control

Manual insertion of flexible bevel-tip needles often leads to unpredictable tissue deformation and compromised targeting accuracy, emphasizing the need for robust trajectory planning. To address this challenge, we formulate the insertion problem as a time-energy optimal control problem (OCP) subject...

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Principais autores: Lijuan Pan, Zhenhui Zhang, Zhuyan Yin, Bai Li
פורמט: Artigo
שפה:Inglês
יצא לאור: IEEE 2025-01-01
סדרה:IEEE Access
נושאים:
Bevel-tip needle insertion
collision avoidance
computational optimal control
interior point method
nonlinear program
trajectory planning
גישה מקוונת:https://ieeexplore.ieee.org/document/11037735/
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