Print Email Facebook Twitter Autonomous Navigation for Robot-Assisted Intraluminal and Endovascular Procedures Title Autonomous Navigation for Robot-Assisted Intraluminal and Endovascular Procedures: A Systematic Review Author Pore, Ameya (University of Verona; Universitat Politecnica de Catalunya) Li, Z. (TU Delft Medical Instruments & Bio-Inspired Technology; Politecnico di Milano) Dall'Alba, Diego (University of Verona) Hernansanz, Albert (Universitat Politecnica de Catalunya) De Momi, Elena (Politecnico di Milano) Menciassi, Arianna (Scuola Superiore Sant’Anna) Casals Gelpi, Alicia (Universitat Politecnica de Catalunya) Dankelman, J. (TU Delft Medical Instruments & Bio-Inspired Technology) Fiorini, Paolo (University of Verona) Poorten, Emmanuel Vander (Katholieke Universiteit Leuven) Date 2023 Abstract Increased demand for less invasive procedures has accelerated the adoption of Intraluminal Procedures (IP) and Endovascular Interventions (EI) performed through body lumens and vessels. As navigation through lumens and vessels is quite complex, interest grows to establish autonomous navigation techniques for IP and EI for reaching the target area. Current research efforts are directed toward increasing the Level of Autonomy (LoA) during the navigation phase. One key ingredient for autonomous navigation is Motion Planning (MP) techniques. This paper provides an overview of MP techniques categorizing them based on LoA. Our analysis investigates advances for the different clinical scenarios. Through a systematic literature analysis using the PRISMA method, the study summarizes relevant works and investigates the clinical aim, LoA, adopted MP techniques, and validation types. We identify the limitations of the corresponding MP methods and provide directions to improve the robustness of the algorithms in dynamic intraluminal environments. MP for IP and EI can be classified into four subgroups: node, sampling, optimization, and learning-based techniques, with a notable rise in learning-based approaches in recent years. One of the review's contributions is the identification of the limiting factors in IP and EI robotic systems hindering higher levels of autonomous navigation. In the future, navigation is bound to become more autonomous, placing the clinician in a supervisory position to improve control precision and reduce workload. Subject AutonomyCatheterscontinuum robotsEndoscopesendovascular interventionsintraluminal proceduresIP networksmedical roboticsmotion planningnavigationNavigationRobot sensing systemsRobotsSurveys To reference this document use: http://resolver.tudelft.nl/uuid:22d6cbab-7d15-4390-b6d3-ffc1281a7762 DOI https://doi.org/10.1109/TRO.2023.3269384 ISSN 1552-3098 Source IEEE Transactions on Robotics, 39 (4), 2529-2548 Part of collection Institutional Repository Document type journal article Rights © 2023 Ameya Pore, Z. Li, Diego Dall'Alba, Albert Hernansanz, Elena De Momi, Arianna Menciassi, Alicia Casals Gelpi, J. Dankelman, Paolo Fiorini, Emmanuel Vander Poorten Files PDF Autonomous_Navigation_for ... Review.pdf 4.12 MB Close viewer /islandora/object/uuid:22d6cbab-7d15-4390-b6d3-ffc1281a7762/datastream/OBJ/view