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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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/11037735/ |
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| author | Lijuan Pan Zhenhui Zhang Zhuyan Yin Bai Li |
| author_facet | Lijuan Pan Zhenhui Zhang Zhuyan Yin Bai Li |
| author_sort | Lijuan Pan |
| collection | DOAJ |
| description | 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 to nonlinear kinematic and collision-avoidance constraints. Due to its large-scale and nonconvex nature, directly solving the nominal OCP is difficult. Instead, we first obtain a coarse collision-free trajectory via <inline-formula> <tex-math notation="LaTeX">${\mathrm {A}}^{\ast }$ </tex-math></inline-formula> search in the abstracted 3D workspace. Next, we create spatiotemporal safe corridors around this trajectory, replace the nominal collision-avoidance constraints with corridor-based constraints, and iteratively relax the kinematic equations as external penalties to refine feasibility. The refined solution subsequently warm-starts a final solve of the nominal OCP with strict kinematic constraints and reduced-scale collision-avoidance constraints. Simulations confirm that our proposed optimization-based trajectory planner converges reliably to numerically optimal needle trajectories, surpassing existing optimization-based trajectory planners in modeling accuracy, solution robustness, and efficiency. |
| format | Article |
| id | doaj-art-da668262139c497cae1c2ae86c7b4e35 |
| institution | OA Journals |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-da668262139c497cae1c2ae86c7b4e352025-08-20T02:22:15ZengIEEEIEEE Access2169-35362025-01-011310765710766810.1109/ACCESS.2025.3580645110377353D Bevel-Tip Needle Insertion Trajectory Planning via Computational Optimal ControlLijuan Pan0https://orcid.org/0000-0002-3875-2190Zhenhui Zhang1Zhuyan Yin2Bai Li3https://orcid.org/0000-0002-8966-8992Department of Obstetrics, Xiangya Hospital, Central South University, Changsha, ChinaDepartment of Obstetrics, The Affiliated Changsha Hospital of Xiangya School of Medicine, Central South University (The First Hospital of Changsha), Changsha, ChinaCollege of Mechanical and Vehicle Engineering, Hunan University, Changsha, ChinaSchool of Communication and Electronic Engineering, East China Normal University, Shanghai, ChinaManual 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 to nonlinear kinematic and collision-avoidance constraints. Due to its large-scale and nonconvex nature, directly solving the nominal OCP is difficult. Instead, we first obtain a coarse collision-free trajectory via <inline-formula> <tex-math notation="LaTeX">${\mathrm {A}}^{\ast }$ </tex-math></inline-formula> search in the abstracted 3D workspace. Next, we create spatiotemporal safe corridors around this trajectory, replace the nominal collision-avoidance constraints with corridor-based constraints, and iteratively relax the kinematic equations as external penalties to refine feasibility. The refined solution subsequently warm-starts a final solve of the nominal OCP with strict kinematic constraints and reduced-scale collision-avoidance constraints. Simulations confirm that our proposed optimization-based trajectory planner converges reliably to numerically optimal needle trajectories, surpassing existing optimization-based trajectory planners in modeling accuracy, solution robustness, and efficiency.https://ieeexplore.ieee.org/document/11037735/Bevel-tip needle insertioncollision avoidancecomputational optimal controlinterior point methodnonlinear programtrajectory planning |
| spellingShingle | Lijuan Pan Zhenhui Zhang Zhuyan Yin Bai Li 3D Bevel-Tip Needle Insertion Trajectory Planning via Computational Optimal Control IEEE Access Bevel-tip needle insertion collision avoidance computational optimal control interior point method nonlinear program trajectory planning |
| title | 3D Bevel-Tip Needle Insertion Trajectory Planning via Computational Optimal Control |
| title_full | 3D Bevel-Tip Needle Insertion Trajectory Planning via Computational Optimal Control |
| title_fullStr | 3D Bevel-Tip Needle Insertion Trajectory Planning via Computational Optimal Control |
| title_full_unstemmed | 3D Bevel-Tip Needle Insertion Trajectory Planning via Computational Optimal Control |
| title_short | 3D Bevel-Tip Needle Insertion Trajectory Planning via Computational Optimal Control |
| title_sort | 3d bevel tip needle insertion trajectory planning via computational optimal control |
| topic | Bevel-tip needle insertion collision avoidance computational optimal control interior point method nonlinear program trajectory planning |
| url | https://ieeexplore.ieee.org/document/11037735/ |
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