Shape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future Directions

Soft and continuum robots are transforming medical interventions thanks to their flexibility, miniaturization, and multidirectional movement abilities. Although flexibility enables reaching targets in unstructured and dynamic environments, it also creates challenges for control, especially due to in...

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Autores principales:	Sujit Kumar Sahu, Canberk Sozer, Benoit Rosa, Izadyar Tamadon, Pierre Renaud, Arianna Menciassi
Formato:	article
Lenguaje:	EN
Publicado:	Frontiers Media S.A. 2021
Materias:	shape reconstruction electromagnetic sensor optical sensors medical image based techniques passive stretchable sensors sensing in minimally invasive surgery Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95
Acceso en línea:	https://doaj.org/article/2026cba36c8c4261bdb91f66fcd4afdb
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spelling	oai:doaj.org-article:2026cba36c8c4261bdb91f66fcd4afdb2021-11-19T11:17:00ZShape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future Directions2296-914410.3389/frobt.2021.758411https://doaj.org/article/2026cba36c8c4261bdb91f66fcd4afdb2021-11-01T00:00:00Zhttps://www.frontiersin.org/articles/10.3389/frobt.2021.758411/fullhttps://doaj.org/toc/2296-9144Soft and continuum robots are transforming medical interventions thanks to their flexibility, miniaturization, and multidirectional movement abilities. Although flexibility enables reaching targets in unstructured and dynamic environments, it also creates challenges for control, especially due to interactions with the anatomy. Thus, in recent years lots of efforts have been devoted for the development of shape reconstruction methods, with the advancement of different kinematic models, sensors, and imaging techniques. These methods can increase the performance of the control action as well as provide the tip position of robotic manipulators relative to the anatomy. Each method, however, has its advantages and disadvantages and can be worthwhile in different situations. For example, electromagnetic (EM) and Fiber Bragg Grating (FBG) sensor-based shape reconstruction methods can be used in small-scale robots due to their advantages thanks to miniaturization, fast response, and high sensitivity. Yet, the problem of electromagnetic interference in the case of EM sensors, and poor response to high strains in the case of FBG sensors need to be considered. To help the reader make a suitable choice, this paper presents a review of recent progress on shape reconstruction methods, based on a systematic literature search, excluding pure kinematic models. Methods are classified into two categories. First, sensor-based techniques are presented that discuss the use of various sensors such as FBG, EM, and passive stretchable sensors for reconstructing the shape of the robots. Second, imaging-based methods are discussed that utilize images from different imaging systems such as fluoroscopy, endoscopy cameras, and ultrasound for the shape reconstruction process. The applicability, benefits, and limitations of each method are discussed. Finally, the paper draws some future promising directions for the enhancement of the shape reconstruction methods by discussing open questions and alternative methods.Sujit Kumar SahuSujit Kumar SahuSujit Kumar SahuCanberk SozerCanberk SozerBenoit RosaIzadyar TamadonIzadyar TamadonPierre RenaudArianna MenciassiArianna MenciassiFrontiers Media S.A.articleshape reconstructionelectromagnetic sensoroptical sensorsmedical image based techniquespassive stretchable sensorssensing in minimally invasive surgeryMechanical engineering and machineryTJ1-1570Electronic computers. Computer scienceQA75.5-76.95ENFrontiers in Robotics and AI, Vol 8 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	shape reconstruction electromagnetic sensor optical sensors medical image based techniques passive stretchable sensors sensing in minimally invasive surgery Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95
spellingShingle	shape reconstruction electromagnetic sensor optical sensors medical image based techniques passive stretchable sensors sensing in minimally invasive surgery Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95 Sujit Kumar Sahu Sujit Kumar Sahu Sujit Kumar Sahu Canberk Sozer Canberk Sozer Benoit Rosa Izadyar Tamadon Izadyar Tamadon Pierre Renaud Arianna Menciassi Arianna Menciassi Shape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future Directions
description	Soft and continuum robots are transforming medical interventions thanks to their flexibility, miniaturization, and multidirectional movement abilities. Although flexibility enables reaching targets in unstructured and dynamic environments, it also creates challenges for control, especially due to interactions with the anatomy. Thus, in recent years lots of efforts have been devoted for the development of shape reconstruction methods, with the advancement of different kinematic models, sensors, and imaging techniques. These methods can increase the performance of the control action as well as provide the tip position of robotic manipulators relative to the anatomy. Each method, however, has its advantages and disadvantages and can be worthwhile in different situations. For example, electromagnetic (EM) and Fiber Bragg Grating (FBG) sensor-based shape reconstruction methods can be used in small-scale robots due to their advantages thanks to miniaturization, fast response, and high sensitivity. Yet, the problem of electromagnetic interference in the case of EM sensors, and poor response to high strains in the case of FBG sensors need to be considered. To help the reader make a suitable choice, this paper presents a review of recent progress on shape reconstruction methods, based on a systematic literature search, excluding pure kinematic models. Methods are classified into two categories. First, sensor-based techniques are presented that discuss the use of various sensors such as FBG, EM, and passive stretchable sensors for reconstructing the shape of the robots. Second, imaging-based methods are discussed that utilize images from different imaging systems such as fluoroscopy, endoscopy cameras, and ultrasound for the shape reconstruction process. The applicability, benefits, and limitations of each method are discussed. Finally, the paper draws some future promising directions for the enhancement of the shape reconstruction methods by discussing open questions and alternative methods.
format	article
author	Sujit Kumar Sahu Sujit Kumar Sahu Sujit Kumar Sahu Canberk Sozer Canberk Sozer Benoit Rosa Izadyar Tamadon Izadyar Tamadon Pierre Renaud Arianna Menciassi Arianna Menciassi
author_facet	Sujit Kumar Sahu Sujit Kumar Sahu Sujit Kumar Sahu Canberk Sozer Canberk Sozer Benoit Rosa Izadyar Tamadon Izadyar Tamadon Pierre Renaud Arianna Menciassi Arianna Menciassi
author_sort	Sujit Kumar Sahu
title	Shape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future Directions
title_short	Shape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future Directions
title_full	Shape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future Directions
title_fullStr	Shape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future Directions
title_full_unstemmed	Shape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future Directions
title_sort	shape reconstruction processes for interventional application devices: state of the art, progress, and future directions
publisher	Frontiers Media S.A.
publishDate	2021
url	https://doaj.org/article/2026cba36c8c4261bdb91f66fcd4afdb
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Shape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future Directions

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