[1] Xiong Pengwen, Zhou Xueting, Li Qian, et al. Path prediction of flexible needles based on Fokker-Planckequation and disjunctive Kriging model [J]. Journal of Southeast University (English Edition), 2022, 38 (2): 118-125. [doi:10.3969/j.issn.1003-7985.2022.02.003]

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Path prediction of flexible needles based on Fokker-Planckequation and disjunctive Kriging model()

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Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

38

Issue:

2022 2

Page:

118-125

Research Field:

Automation

Publishing date:

2022-06-20

Info

Title:

Path prediction of flexible needles based on Fokker-Planckequation and disjunctive Kriging model

Author(s):

Xiong Pengwen¹;  2;  Zhou Xueting¹;  Li Qian¹;  Song Aiguo²;  Liu Peter Xiaoping³

¹School of Advanced Manufacturing, Nanchang University, Nanchang 330031, China
²School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
³Department of Systems and Computer Engineering, Carleton University, Ottawa KIS5B6, Canada

Keywords:

flexible needle puncture;  nonlinear;  Fokker-Planck equation;  disjunctive Kriging;  error analysis

PACS:

TP242.3

DOI:

10.3969/j.issn.1003-7985.2022.02.003

Abstract:

Path prediction of flexible needles based on the Fokker-Planck equation and disjunctive Kriging model is proposed to improve accuracy and consider the nonlinearity and anisotropy of soft tissues. The stochastic differential equation is developed into the Fokker-Planck equation with Gaussian noise, and the position and orientation probability density function of flexible needles are then optimized by the stochastic differential equation. The probability density function obtains the mean and covariance of flexible needle movement and helps plan puncture paths by combining with the probabilistic path algorithm. The weight coefficients of the ordinary Kriging are extended to nonlinear functions to optimize the planned puncture path, and the Hermite expansion is used to calculate nonlinear parameter values of the disjunctive Kriging optimization model. Finally, simulation experiments are performed. Detailed comparison results under different path planning maps show that the kinematics model can plan optimal puncture paths under clinical requirements with an error far less than 2 mm. It can effectively optimize the path prediction model and help improve the target rate of soft tissue puncture with flexible needles through data analysis and processing of the mean value and covariance parameters derived by the probability density and disjunctive Kriging algorithms.

References:

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Memo

Memo:

Biographies: Xiong Pengwen(1987—), male, doctor; Li Qian(Corresponding author), female, doctor, lector, qianli@ncu.edu.cn.
Foundation item: The National Natural Science Foundation of China(No. 61903175, 62163024, 62163026), the Academic and Technical Leaders Foundation of Major Disciplines of Jiangxi Province under Grant(No.20204BCJ23006).
Citation: Xiong Pengwen, Zhou Xueting, Li Qian, et al.Path prediction of flexible needles based on Fokker-Planck equation and disjunctive Kriging model[J].Journal of Southeast University(English Edition), 2022, 38(2):118-125.DOI:10.3969/j.issn.1003-7985.2022.02.003.

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