Puncture path planning algorithm of flexible needle in percutaneous nephrolithotomy with a hybrid NSGA optimizer

The proposed 2-Step hybrid strategy reaches a balance on both optimal effect and efficiency. This automatic planning method based on the long axis section of the kidney can quickly and autonomously provide physicians with a series of optimized puncture paths, and provide auxiliary guidance for clinicians, especially young physicians. Nevertheless, the proposed method shows considerable potential in percutaneous nephrolithotomy surgical demonstration and teaching, and can integrated into robotic surgical navigation system.