基于改进蚁群算法的血管介入手术路径规划

doi:10.12066/j.issn.1007-2861.1906

上海大学学报(自然科学版) ›› 2019, Vol. 25 ›› Issue (2): 198-205.doi: 10.12066/j.issn.1007-2861.1906

基于改进蚁群算法的血管介入手术路径规划

高明柯^1,⁴, 陈一民¹(), 张典华², 黄晨¹, 李泽宇^1,³

^1. 上海大学计算机工程与科学学院, 上海200444
^2. 上海大学数码艺术学院, 上海201800
^3. 上海交通大学医学院附属瑞金医院计算机中心, 上海200025
^4. 中国电子科技集团公司第三十二研究所, 上海201808

收稿日期:2017-04-10 出版日期:2019-04-30 发布日期:2019-05-05
通讯作者: 陈一民 E-mail:ymchen@mail.shu.edu.cn
基金资助:
上海市科技创新行动计划资助项目(16511101200);上海市科委国际合作资助项目(12510708400)

Path planning of vascular access surgery based on improved ant colony algorithm

GAO Mingke^1,⁴, CHEN Yimin¹(), ZHANG Dianhua², HUANG Chen¹, LI Zeyu^1,³

^1. School of Computer Engineering and Science,Shanghai University,Shanghai 200444, China
^2. College of Digital Arts, Shanghai University, Shanghai 201800,China
^3. Computer Centre, Ruijin Hospital, Shanghai Jiao tong University School of Medicine, Shanghai 200025, China
^4. The 32nd Research Institute of China Electronics Technology Group Corporation, Shanghai 201808, China

Received:2017-04-10 Online:2019-04-30 Published:2019-05-05
Contact: Yimin CHEN E-mail:ymchen@mail.shu.edu.cn

摘要/Abstract

摘要：

血管介入手术难度大, 操作要求精确. 由于医生手术水平不一,通常选择粗大通径的血管进行手术, 而不会考虑其他更优的路径.提出基于改进蚁群算法的血管介入手术路径规划方法,辅助外科医生术前路径规划. 在综合考虑导管的直径,血管的长度、最小直径、最大曲率和最大挠率等因素的基础上,引入端结点因子, 改进蚁群算法中的启发式函数和信息素更新机制,最终得到全局最优的规划路径. 实验结果表明, 术前路径规划合理,证明了算法的可靠性和方法的可行性.

关键词: 血管介入手术, 蚁群算法, 路径规划, 血管中心线, 曲率, 挠率

Abstract:

Vascular access surgery is difficult and requires precise operation.Thick blood vessels are usually chosen for operation as doctors with different surgical skills generally do not consider possible optimal paths. This study proposes an improved ant colony algorithm to plan a vascular optimal path to assist surgeons with preoperative path planning. A globally optimal path is obtained by modifying a heuristic function and pheromone updated mechanism of the ant colony algorithm based on the overall consideration of factors such as catheter diameter, vascular length, minimal diameter, maximal curvature, maximal torsion, and introduction of end node factors.Experimental results show that the path planning is reasonable, the described algorithm is reliable and the method is feasible.

Key words: vascular access surgery, ant colony algorithm, path planning, vascular centerline, curvature, torsion

中图分类号:

TP391.9

高明柯, 陈一民, 张典华, 黄晨, 李泽宇. 基于改进蚁群算法的血管介入手术路径规划[J]. 上海大学学报(自然科学版), 2019, 25(2): 198-205.

GAO Mingke, CHEN Yimin, ZHANG Dianhua, HUANG Chen, LI Zeyu. Path planning of vascular access surgery based on improved ant colony algorithm[J]. Journal of Shanghai University（Natural Science Edition）, 2019, 25(2): 198-205.

图/表 5

参考文献 7

[1]	高向军, 杨克领 . 虚拟内窥镜的路径规划算法研究[J]. 计算机应用研究, 2011,28(3):823-827.
[2]	Belharet K, Folio D, Ferreira A . MRI-based microrobotic system for the propulsion and navigation of ferromagnetic microcapsules[J]. Minimally Invasive Therapy & Allied Technologies, 2010,19(3):157-169. doi: 10.13703/j.0255-2930.2019.12.010 pmid: 31824634
[3]	Paik D S, Beaulieu C F, Jeffrey R B , et al. Automated flight path planning for virtual endoscopy[J]. Medical Physics, 1998,25(5):629-637. doi: 10.1118/1.598244 pmid: 9608471
[4]	Peng Y J, He M X, Lu X M, et al. Realization technologies in a virtual endoscopy system [C]// 2nd International Workshop on Education Technology & Computer Science. 2010: 43-46.
[5]	Chuang J, Tsai C, Ko M . Skeletonization of three-dimensional object using generalized potential field[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2000,22(11):1241-1251. doi: 10.1109/34.888709
[6]	Van Unitert R L, Summers R M . Automatic correction of level set based subvoxel precise centerlines for virtual colonoscopy using the colon outer wall[J]. IEEE Transactions on Medical Imaging, 2007,26(8):1069-1078. doi: 10.1109/TMI.2007.896927 pmid: 17695127
[7]	Kiraly A P, Helferty J P, Hoffman E A , et al. Three-dimensional path planning for virtual bronchoscopy[J]. IEEE Transactions on Medical Imaging, 2004,23(11):1365-1379. doi: 10.1109/TMI.2004.829332 pmid: 15554125

[1]	史云阳, 苗阳, 席殷飞, 张奇, 刘志远. 考虑交通环境和纯电动汽车电池电量的动态路径规划方法[J]. 上海大学学报(自然科学版), 2020, 26(3): 353-366.
[2]	韩知玖, 吴文江, 李孝伟, 张丹, 李春欣. 一种改进的动力学约束人工势场法[J]. 上海大学学报(自然科学版), 2019, 25(6): 879-887.
[3]	钟雨轩, 葛磊, 张鑫, 彭艳, 杨毅, 李小毛. 无人水面艇岛礁海域完全遍历路径规划[J]. 上海大学学报(自然科学版), 2017, 23(1): 17-26.
[4]	胡辛明1, 张鑫1, 钟雨轩1, 彭艳青2, 杨毅1, 姚骏峰1. 无人水面艇仿真系统设计与实现[J]. 上海大学学报(自然科学版), 2017, 23(1): 56-67.
[5]	蔡伟阳1, 张孟喜1, 吴惠明2. 盾构叠交穿越施工引起的既有隧道变形分析[J]. 上海大学学报(自然科学版), 2016, 22(6): 813-820.
[6]	黄平亮, 周蓓蓓. 平面上凸曲线组合流[J]. 上海大学学报(自然科学版), 2013, 19(3): 319-323.
[7]	郑晋钱晋武沈林勇章亚男. 基于空间曲率信息的三维面型重构[J]. 上海大学学报(自然科学版), 2009, 15(3): 235-237.
[8]	吕松军;冷岗松. 星体的p-极曲率映象与p-仿射表面积[J]. 上海大学学报(自然科学版), 2008, 14(2): 148-151 .

基于改进蚁群算法的血管介入手术路径规划

Path planning of vascular access surgery based on improved ant colony algorithm

RichHTML

PDF

可视化

摘要/Abstract

引用本文

使用本文

图/表 5

参考文献 7

相关文章 8

编辑推荐

Metrics

本文评价