[Submitted on 8 Oct 2026]
Title:Image-Based Path-Planning for Navigation of Soft-Growing Robots in the Spinal Sub-Arachnoid Space
View a PDF of the paper titled Image-Based Path-Planning for Navigation of Soft-Growing Robots in the Spinal Sub-Arachnoid Space, by George Dimas and 3 other authors
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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 pathplanning algorithm, which is an extension of the A* algorithm, for the navigation of a soft-growing robot inside the spinal subarachnoid 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.
Subjects:
Robotics (cs.RO); Systems and Control (eess.SY)
Cite as: arXiv:2610.12631 [cs.RO]
(or arXiv:2610.12631v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2610.12631
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Panagiotis Vartholomeos Dr [view email] [v1] Thu, 8 Oct 2026 18:53:25 UTC (975 KB)
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