Path Planning for Multiple Targets for Cannula Flexible Needle With Variable‐Curvature Trajectories

ABSTRACT Background Saturated biopsy is widely used in a histopathological examination of prostate biopsy surgery by expanding the target regions and the increasing the number of insertions. Methods The paper proposed a path planning algorithm for multiple targets with a single entry for a cannula flexible needle with variable curvatures. The algorithm is based on modified rapidly‐exploring random trees (RRTs), and the variable‐curvature motions of the flexible needle are used to achieve optimal path. Results The simulation results show that the algorithm has a better form of the paths. The experimental results of five trials showed that the error was 1.42 ± 1.57 mm (mean ± RMSE), and the maximum error was 1.8 mm, which proves high accuracy and effectiveness of the proposed path planning algorithm for multiple targets with a single entry. Conclusions This research provides a new solution for prostate saturated biopsy surgery and has high value in future clinical application.