柔性针穿刺路径规划综述

摘要

Aiming at the path planning of flexible needle, this paper comprehensively and systematically concluded the research status of the path planning. Due to the characteristics of needle puncture paths, we defined five different styles of paths. The path planners are defined and classified by path dimensions, path styles, planning directions and planning algorithms. Then we particularly summed up the realizations and characteristics of the four planning algorithms. Finally, we proposed the existing problems and the future trends of path panning for the flexible needle.%针对斜尖柔性针穿刺路径规划问题,全面、系统地总结了路径规划的研究现状.根据柔性针穿刺路径的特点,将路径分为5种形式,并定义了名称.将路径规划研究按照路径维数、路径形式、规划方向和规划算法进行分类,并分别给出定义.详细总结了4种规划算法的实现及其特点,并提出了路径规划当前存在的问题和未来的发展趋势.