Study on the Path Planning Based on A* Algorithm for Vascular Intervention Robots

摘要

In vascular interventional surgery, accurate path planning is essential to improve surgical success and reduce risk. This paper aimed to verify the effectiveness and practicability of the A* algorithm in the shortest path planning of vascular interventional surgical robot systems. Computed tomography angiography (CTA) vascular images were processed in advance to extract features and calibrate obstacles, simulating the path planning problem in vascular interventional surgery. The A* algorithm was then employed to search for the shortest path from the starting point to the endpoint. Based on the planned path, assistance could be provided to surgeons during operative procedures. The experimental results indicated that the A* algorithm effectively navigated obstacles and identified the shortest path. Moreover, through user-interactive design, this paper offered an intuitive operational experience, allowing users to interactively choose start and end points and display the algorithm’s search process and outcomes in real-time. This paper demonstrated the potential application of the A* algorithm within vascular structures and laid the groundwork for the future development of more efficient and intelligent systems for planning and navigating vascular interventional surgeries.