PLANNING WITH CURVATURE INTERACTION, SOME RADIUSES OF CURVATURE AND ADAPTIVE NEIGHBOURHOOD INCLUDED

摘要

FIELD: medicine.;SUBSTANCE: invention refers to planning an insertion procedure of concentric cannulas into a body. The method involves: receiving specification of accessible technical characteristics of tubes; describing a space to be analysed with a device with the description containing the specifications of at least one initial points, at least one free space and/or at least one obstruction and at least one target point; selecting a number of tubes so that as the tubes are opened, they specify at least one path through the space from the initial point to the target through the free space with bypassing the obstruction with the above selection corresponding to the kit and description, and a result of the above selection consists in : describing at least one sequence of the tubes; at least one radius of curvatures for each tube; a respective length for each selected tube and an angular attitude of the tube in relation to the previous tube.;EFFECT: making the active cannulas moving along the planned path.;28 cl, 22 dwg