用有限元模拟与交叉熵法优化柔性针穿刺，误差仅0.16mm。
Minimally Invasive Flexible Needle Manipulation Based on Finite Element Simulation and Cross Entropy Method
- 结合有限元仿真与交叉熵算法，实时优化针体路径。
- 实验显示平均靶向误差为0.16±0.29mm，精度极高。
- 适合微创手术导航、机器人辅助穿刺等临床场景。
我们提出一种新型微创柔性针操控方法，将实时有限元模拟器与交叉熵方法相结合。同时展示基于运动学的bang-bang控制器可提升控制框架的跟踪性能。电磁（EM）追踪技术可轻松集成至该框架中，提供控制器反馈。在组织仿体实验中，结合EM追踪的系统实现平均靶向误差为$0.16 \pm 0.29\text{mm}$。
原文摘要 · Abstract (English)
We present a novel approach for minimally invasive flexible needle manipulations by pairing a real-time finite element simulator with the cross-entropy method. Additionally, we demonstrate how a kinematic-driven bang-bang controller can complement the control framework for better tracking performance. We show how electromagnetic (EM) tracking can be readily incorporated into the framework to provide controller feedback. Tissue phantom experiment with EM tracking shows the average targeting error is $0.16 \pm 0.29mm$.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。