Image-Based Path-Planning for Navigation of Soft-Growing Robots in the Spinal Sub-Arachnoid Space

George Dimas, Panagiotis G. Kalozoumis, Panagiotis Vartholomeos, Dimitris K. Iakovidis

Abstract: 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 path-planning algorithm, which is an extension of the A* algorithm, for the navigation of a soft-growing robot inside the spinal sub-arachnoid 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.