Design A Novel of Path Planning Method for The Vascular Interventional Surgery Robot based on DWA Model

摘要

In this paper,The surgical navigation system solves the problem of fast and safe delivery of the catheter and guide wire to the target point. A new concept was proposed to help doctors provide better navigation visual feedback, so that doctors can perform surgical operations more effectively and safely. The surgical navigation system proposed in this article is designed based on the DWA(Dynamic window algorithm) model. First of all, we must first take the three-dimensional coordinates and the corresponding image coordinates to obtain the accurate location of the image coordinate collection. We use its own impixelinfo function in matlab to calculate the pixel coordinates of the marker point. We put the glass vessel in the experimental position, use matlab to collect the image of the glass vessel wall coordinates and set up the target point coordinates, then after collecting the coordinates of possible obstacles, the dynamic window algorithm will be implemented for obstacle avoidance planning and Design an evaluation function based on the planned possible path at the next moment, distinguish the pros and cons of the path. Finally, The experimental analysis and verification of surgical operations compared with or without navigation system was demonstrated.