Autonomous navigation for robot-assisted intraluminal and endovascular procedures: a systematic review

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 techn...

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Autores: Pore, Ameya Ravindra, Li, Zhen, Dall'Alba, Diego, Hernansanz Prats, Alberto|||0000-0002-7969-5401, De Momi, Elena, Menciassi, Arianna, Casals Gelpí, Alicia|||0000-0003-4706-5533, Dankelman, Jenny, Fiorini, Paolo, Poorten, Emmanuel Vander
Tipo de recurso: artículo
Fecha de publicación:2023
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/393277
Acceso en línea:https://hdl.handle.net/2117/393277
https://dx.doi.org/10.1109/TRO.2023.3269384
Access Level:acceso abierto
Palabra clave:Robotics in medicina
Endoscopic surgery
Autonomy
Continuum robots
Endovascular interventions
Intraluminal procedures
Medical robotics
Motion planning
Navigation
Robòtica en medicina
Cirurgia endoscòpica
Àrees temàtiques de la UPC::Informàtica::Robòtica
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spelling Autonomous navigation for robot-assisted intraluminal and endovascular procedures: a systematic reviewPore, Ameya RavindraLi, ZhenDall'Alba, DiegoHernansanz Prats, Alberto|||0000-0002-7969-5401De Momi, ElenaMenciassi, AriannaCasals Gelpí, Alicia|||0000-0003-4706-5533Dankelman, JennyFiorini, PaoloPoorten, Emmanuel VanderRobotics in medicinaEndoscopic surgeryAutonomyContinuum robotsEndovascular interventionsIntraluminal proceduresMedical roboticsMotion planningNavigationRobòtica en medicinaCirurgia endoscòpicaÀrees temàtiques de la UPC::Informàtica::RobòticaIncreased 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.Peer ReviewedInstitute of Electrical and Electronics Engineers (IEEE)20232023-01-0120232023-09-08journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/393277https://dx.doi.org/10.1109/TRO.2023.3269384reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Attribution 4.0 Internationalhttp://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/3932772026-05-27T15:37:01Z
dc.title.none.fl_str_mv Autonomous navigation for robot-assisted intraluminal and endovascular procedures: a systematic review
title Autonomous navigation for robot-assisted intraluminal and endovascular procedures: a systematic review
spellingShingle Autonomous navigation for robot-assisted intraluminal and endovascular procedures: a systematic review
Pore, Ameya Ravindra
Robotics in medicina
Endoscopic surgery
Autonomy
Continuum robots
Endovascular interventions
Intraluminal procedures
Medical robotics
Motion planning
Navigation
Robòtica en medicina
Cirurgia endoscòpica
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Autonomous navigation for robot-assisted intraluminal and endovascular procedures: a systematic review
title_full Autonomous navigation for robot-assisted intraluminal and endovascular procedures: a systematic review
title_fullStr Autonomous navigation for robot-assisted intraluminal and endovascular procedures: a systematic review
title_full_unstemmed Autonomous navigation for robot-assisted intraluminal and endovascular procedures: a systematic review
title_sort Autonomous navigation for robot-assisted intraluminal and endovascular procedures: a systematic review
dc.creator.none.fl_str_mv Pore, Ameya Ravindra
Li, Zhen
Dall'Alba, Diego
Hernansanz Prats, Alberto|||0000-0002-7969-5401
De Momi, Elena
Menciassi, Arianna
Casals Gelpí, Alicia|||0000-0003-4706-5533
Dankelman, Jenny
Fiorini, Paolo
Poorten, Emmanuel Vander
author Pore, Ameya Ravindra
author_facet Pore, Ameya Ravindra
Li, Zhen
Dall'Alba, Diego
Hernansanz Prats, Alberto|||0000-0002-7969-5401
De Momi, Elena
Menciassi, Arianna
Casals Gelpí, Alicia|||0000-0003-4706-5533
Dankelman, Jenny
Fiorini, Paolo
Poorten, Emmanuel Vander
author_role author
author2 Li, Zhen
Dall'Alba, Diego
Hernansanz Prats, Alberto|||0000-0002-7969-5401
De Momi, Elena
Menciassi, Arianna
Casals Gelpí, Alicia|||0000-0003-4706-5533
Dankelman, Jenny
Fiorini, Paolo
Poorten, Emmanuel Vander
author2_role author
author
author
author
author
author
author
author
author
dc.subject.none.fl_str_mv Robotics in medicina
Endoscopic surgery
Autonomy
Continuum robots
Endovascular interventions
Intraluminal procedures
Medical robotics
Motion planning
Navigation
Robòtica en medicina
Cirurgia endoscòpica
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Robotics in medicina
Endoscopic surgery
Autonomy
Continuum robots
Endovascular interventions
Intraluminal procedures
Medical robotics
Motion planning
Navigation
Robòtica en medicina
Cirurgia endoscòpica
Àrees temàtiques de la UPC::Informàtica::Robòtica
description 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.
publishDate 2023
dc.date.none.fl_str_mv 2023
2023-01-01
2023
2023-09-08
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/393277
https://dx.doi.org/10.1109/TRO.2023.3269384
url https://hdl.handle.net/2117/393277
https://dx.doi.org/10.1109/TRO.2023.3269384
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution 4.0 International
http://creativecommons.org/licenses/by/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution 4.0 International
http://creativecommons.org/licenses/by/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers (IEEE)
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers (IEEE)
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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