軟体成長ロボットの脊髄くも膜下腔内ナビゲーションのための画像ベース経路計画
Image-Based Path-Planning for Navigation of Soft-Growing Robots in the Spinal Sub-Arachnoid Space
脊髄くも膜下腔内で軟体成長ロボットを安全に誘導するため、A*アルゴリズムを拡張した画像ベース3D経路計画法を提案し、詳細モデルで評価した。
著者: George Dimas, Panagiotis G. Kalozoumis, Panagiotis Vartholomeos, Dimitris K. Iakovidis
分類: cs.RO, eess.SY
原文アブストラクト
Recently, soft robotic procedures are being developed aiming at achieving targeted minimally invasive operations or drug administration in specific locations in the human body. Accordingly, specialized path-planning algorithms need to be investigated for the estimation of efficient paths that would protect the delicate tissue structures and simultaneously satisfy a set of requirements for the efficient navigation of the robot. In this context, we propose an image-based 3D pathplanning algorithm, which is an extension of the A* algorithm, for the navigation of a soft-growing robot inside the spinal subarachnoid space (SSS). The proposed algorithm is capable of estimating a safe pathway towards the goal location, while ensuring the establishment of anchor points that facilitate the efficient steering of the soft robot. The algorithm is evaluated using a highly detailed model of the SSS with respect to its capacity to satisfy the robot movement requirements and path efficiency.