Image-Based Path-Planning for Navigation of Soft-Growing Robots in the Spinal Sub-Arachnoid Space

Image-Based Path-Planning for Navigation of Soft-Growing Robots in the Spinal Sub-Arachnoid Space

|Authors: George Dimas, Panagiotis G. Kalozoumis, Panagiotis Vartholomeos, Dimitris K. Iakovidis

|Venue: arXiv preprint | Year: 2026

|arXiv: 2610.12631

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.

Key Contributions

• Recently, soft robotic procedures are being developed aiming at achieving targeted minimally inva…
• Accordingly, specialized path-planning algorithms need to be investigated for the estimation of e…
• In this context, we propose an image-based 3D pathplanning algorithm, which is an extension of th…
• The proposed algorithm is capable of estimating a safe pathway towards the goal location, while e…
• The algorithm is evaluated using a highly detailed model of the SSS with respect to its capacity …

Topics

• vision
• planning

Code & Data

No code repository linked in paper metadata.

BibTeX

@article{Dimas2026_261012631,
  title     = {Image-Based Path-Planning for Navigation of Soft-Growing Robots in the Spinal Sub-Arachnoid Space},
  author    = {George Dimas and Panagiotis G. Kalozoumis and Panagiotis Vartholomeos and Dimitris K. Iakovidis},
  year      = {2026},
  eprint    = {2610.12631},
  archivePrefix = {arXiv},
  primaryClass  = {cs.RO},
  url       = {https://arxiv.org/abs/2610.12631}
}