Path Planning for Concentric Surgical Needles based on Artificial Potential Field driven Simulated

Run

• Run oneEx.m to generate the path for needle. Environment can be changed in line 5
• Run e1/2/3_loop.m to get statistical results
• Parameters can be changed in planning_5_1.m

Environment

• e1: 3D environment with 6 sphere obstacles, whose setting refers to [1]
• e2: 3D environment with 8 sphere obstacles, whose setting refers to [2]
• e3: 3D environment with 3 columnar obstacles

Results

• Cai et al. [3]
• Tan et al. [1]

Acknowledgments

Thanks to the authors of the paper [1] for kindly sharing their code of AI-PSO.

Reference

[1] Tan Z, Liang H-G, Zhang D, et al. (2022) Path planning of surgical needle: A new adaptive intelligent particle swarm optimization method. Transactions of the Institute of Measurement and Control 44(4): 766–774.
[2] Tan Z, Zhang D, Liang H, et al. (2022) A new path planning method for bevel-tip flexible needle insertion in 3D space with multiple targets and obstacles. Control Theory and Technology 20(4): 525–535.
[3] Cai C, Sun C, Han Y, et al. (2020) Clinical flexible needle puncture path planning based on particle swarm optimization. Computer Methods and Programs in Biomedicine 193: 105511.