Hareketli dokuda esnek iğne insersiyonunun modellenmesi

Steerable needles can be used for minimally invasive surgeries to reach clinicaltargets otherwise inaccessible by rigid needles. Planning the insertion of suchexibleneedles for these procedures is dicult because of the nonholonomic motionof the bevel-tip needles and the presence of anatomical obstacles. In this work,we take one further step and also consider tissue movement during insertion inaddition to these other problems. For instance in a minimally invasive cardiacsurgery, one should take into account the eect of the heart's beating motion onthe needle during its insertion as well as the eects of breathing movements. Inthis thesis, we develop a motion model for a bevel-tip needle such that it can beinserted within in any tissue under a known motion that can be characterized bya time-dependent dieomorphism. We then explore motion planning under periodicmotion of a homogeneous, planar tissue where we use the Rapidly-exploringRandom Trees (RRTs) method with the developed model to explore the tissue.While we perform the planning, we aim that the needle reaches a target areain the tissue while avoiding obstacles which are actually tissue segments that wewant to avoid getting in contact with and intuitively follow the same motion ofthe tissue. We present simulation results for a number of dierent scenarios toillustrate the ecacy of out algorithm.