Related Experiment Video
Updated: Oct 11, 2025
08:15
3D Planning and Printing of Patient Specific Implants for Reconstruction of Bony Defects
Published on: August 4, 2020
6.7K
Shape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future
Sujit Kumar Sahu1,2,3, Canberk Sozer1,2, Benoit Rosa3
1The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy.
Frontiers in Robotics and AI
|December 6, 2021
Summary
Shape reconstruction methods for soft robots are crucial for medical applications. This review compares sensor-based and imaging-based techniques, highlighting their pros and cons for robotic control.
Area of Science:
- Medical Robotics
- Soft Robotics
- Control Systems Engineering
Background:
- Soft and continuum robots offer unique advantages in medical interventions due to their flexibility and miniaturization.
- Controlling these robots is challenging, particularly when interacting with complex anatomy, necessitating accurate shape reconstruction.
Purpose of the Study:
- To systematically review and classify recent advancements in shape reconstruction methods for soft and continuum robots.
- To provide a comparative analysis of sensor-based and imaging-based techniques, aiding researchers in method selection.
Main Methods:
- A systematic literature search was conducted, focusing on shape reconstruction methods excluding pure kinematic models.
- Methods were categorized into sensor-based (e.g., Fiber Bragg Grating, electromagnetic, stretchable sensors) and imaging-based (e.g., fluoroscopy, endoscopy, ultrasound) approaches.
Main Results:
- Sensor-based methods like EM and FBG offer miniaturization and fast response but face challenges like electromagnetic interference and strain sensitivity.
- Imaging-based methods utilize various medical imaging systems for shape reconstruction, each with specific applicability, benefits, and limitations.
Conclusions:
- The review elucidates the trade-offs between different shape reconstruction techniques for soft robotic applications.
- Future research directions are identified, addressing open questions and exploring alternative methods for enhanced robotic control and performance.
