VascularPilot3D: Toward a 3D fully autonomous navigation for endovascular robotics
<|reference_start|>VascularPilot3D: Toward a 3D fully autonomous navigation for endovascular robotics: This research reports VascularPilot3D, the first 3D fully autonomous endovascular robot navigation system. As an exploration toward autonomous guidewire navigation, VascularPilot3D is developed as a complete navigation system based on intra-operative imaging systems (fluoroscopic X-ray in this study) and typical endovascular robots. VascularPilot3D adopts previously researched fast 3D-2D vessel registration algorithms and guidewire segmentation methods as its perception modules. We additionally propose three modules: a topology-constrained 2D-3D instrument end-point lifting method, a tree-based fast path planning algorithm, and a prior-free endovascular navigation strategy. VascularPilot3D is compatible with most mainstream endovascular robots. Ex-vivo experiments validate that VascularPilot3D achieves 100% success rate among 25 trials. It reduces the human surgeon's overall control loops by 18.38%. VascularPilot3D is promising for general clinical autonomous endovascular navigations.<|reference_end|>
@article{song2024vascularpilot3d:,
    title={VascularPilot3D: Toward a 3D fully autonomous navigation for
  endovascular robotics},
    author={Jingwei Song, Keke Yang, Han Chen, Jiayi Liu, Yinan Gu, Qianxin Hui,
  Yanqi Huang, Meng Li, Zheng Zhang, Tuoyu Cao, Maani Ghaffari},
    journal={arXiv preprint arXiv:2405.09375},
    year={2024},
    archivePrefix={arXiv},
    eprint={2405.09375},
    primaryClass={cs.RO}
}