Method for determining an insertion trajectory of a tool in a deformable tissular matrix and robotic system executing the method

摘要

A method for determining an insertion trajectory of a tool for reaching a moving target object prior to its insertion into a tissular matrix. The method comprises acquiring images of the tissular matrix, constructing a three-dimensional representation of the tissular matrix, determining coordinates of the initial position of the target object and any obstacles, and determining at least one potential trajectory of the tool from the coordinates of any obstacles and the initial position of the target object. The method further comprises simulating insertion of the tool in the tissular matrix to determine displacement of the target object during insertion of the tool up to the initial position of the target object along a potential trajectory, determining a new position of the target object based on the determined displacement, and determining the insertion trajectory for the new position of the target object.

主权项

1. A method for determining an insertion trajectory of a tool for reaching a moving target object prior to its insertion into a tissular matrix, wherein the tissular matrix comprises obstacles, and wherein the target object has an initial position, the method comprising:
acquiring images of the tissular matrix; constructing a three-dimensional representation of the tissular matrix from the images; determining coordinates of the initial position of the target object and coordinates of the obstacles; determining at least one potential trajectory of the tool from the coordinates of the obstacles of the tissular matrix and of the coordinates of the initial position of the target object, wherein in the potential trajectory, the tool encounters no obstacles up to the initial position of the target object during insertion; simulating insertion of the tool in the three-dimensional representation of the tissular matrix to determine displacement of the target object within the tissular matrix during insertion of the tool up to the initial position of the target object along the determined potential trajectory; determining a new position of the target object based on the determined displacement; and determining the insertion trajectory for the new position of the target object.