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Updated: May 13, 2025

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Registration, Path Planning and Shape Reconstruction for Soft Tools in Robot-Assisted Intraluminal Procedures:

Chongan Zhang1, Xiaoyue Liu1, Zuoming Fu1

  • 1Biosensor National Special Laboratory, College of Biomedical Engineering and Instrument Science, Zhejiang University, Hangzhou, China.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|April 16, 2025
PubMed
Summary

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Robot-assisted intraluminal procedures (IP) enhance surgical navigation. This review covers registration, path planning, and shape reconstruction, identifying current limitations and future research directions for safer operations.

Area of Science:

  • Medical Robotics
  • Surgical Navigation Systems
  • Minimally Invasive Procedures

Background:

  • Traditional intraluminal procedures (IP) present surgical challenges in delicate, tortuous lumens.
  • Robot and navigation systems offer potential solutions for enhanced surgical precision and safety.
  • Advancements in these systems are crucial for improving outcomes in complex interventions.

Purpose of the Study:

  • To review the key components of robot and navigation systems for intraluminal procedures.
  • To analyze the limitations and future perspectives of registration, path planning, and shape reconstruction technologies.
  • To provide insights into the current state and future development of robotic assistance in IP.

Main Methods:

  • Comprehensive electronic literature search conducted in Web of Science and Google Scholar databases up to 2024.
Keywords:
continuum robotelectromagnetic (EM) trackingfibre opticintraluminal proceduresnavigationpath planningregistrationshape reconstruction

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  • Focused analysis of feature extraction techniques for 2D-3D registration.
  • Review of classification methods, planning space selection, and path cost establishment for path planning.

    • Main Results:

    • Analysis of feature extraction in 2D-3D registration for intraluminal procedures.
    • Proposal of a new classification method for path planning, emphasizing planning space and path cost.
    • Evaluation of existing shape reconstruction methods, with a focus on fiber optic sensors and electromagnetic (EM) tracking.

    Conclusions:

    • Significant progress has been achieved in robot-assisted intraluminal procedures.
    • Key technologies like registration, path planning, and shape reconstruction require further research and development.
    • Addressing current challenges will pave the way for more advanced and safer intraluminal interventions.