Path Planning Method for Robot-assisted Puncture Based on Genetic Algorithm

摘要

Trigeminal neuralgia is a common cerebral neurological disorder. Clinical intervention for this disorder typically involves puncturing the foramen ovale at the skull base. However, the small morphological structure of the foramen ovale and the complex cranial anatomical structure increase the difficulty of minimally invasive surgery. The purpose of the proposed path planning method for robot-assisted puncture based on the genetic algorithm is to achieve precise target puncture and design an accurate and safe puncture path, consequently reducing tissue damage in patients and improving the success rate of the surgery. Finally, the performance of the proposed method is evaluated by executing preoperative puncture planning using V-REP robotic arm simulation.