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

Huiyin Xu1; Shuxiang Guo1,2,3; Chunying Li2; Sheng Cao3

10.1109/ICMA61710.2024.10632936

2024-08-07

2152-7431

979-8-3503-8808-4

2024 IEEE International Conference on Mechatronics and Automation (ICMA)

4-7 Aug. 2024

Tianjin, China

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.

其他

1.National Engineering Laboratory for Big Data System Computing Technology, Shenzhen University, Shenzhen, China
2.The Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China
3.The Aerospace Center Hospital, School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China

Huiyin Xu,Shuxiang Guo,Chunying Li,et al. Study on the Path Planning Based on A* Algorithm for Vascular Intervention Robots[C],2024.