Trajectory Optimization of Robot-Assisted Endovascular Catheterization with Reinforcement Learning

Chi, Wenqiang; Liu, Jindong; Abdelaziz, Mohamed E. M. K.; Dagnino, Giulio; Riga, Celia; Bicknell, Colin; Yang, Guang‐Zhong

doi:10.1109/iros.2018.8593421

Cited by 33 publications

(38 citation statements)

References 22 publications

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“…In the future, it is expected that the degree of autonomy in robotic vascular intervention can be increased. W. Chi et al [27] reported vascular intervention path planning using reinforcement learning. Similarly, we plan to apply a reinforced learning algorithm to our vascular intervention robotic system for successful insertion of the catheter into the vascular lines.…”

Section: Discussionmentioning

confidence: 99%

Advantage of Steerable Catheter and Haptic Feedback for a 5-DOF Vascular Intervention Robot System

2019

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Vascular intervention involves inserting a catheter and guidewire into blood vessels to diagnose and treat a disease in an X-ray environment. In this conventional vascular intervention procedure, the doctor is exposed to considerable radiation. To reduce the exposure, we developed a master–slave robot system. A steerable catheter is employed to shorten the task-time and reduce the contact force applied to the vessel walls during catheter insertion. The steerable catheter helps to select a vascular branch; thus, the radiation exposure time for patients is reduced, and perforation in the patient’s vessel is prevented. Additionally, the robot system employs a haptic function to replicate the physician’s tactile sensing in vascular intervention. In this study, the effectiveness of the steering catheter and haptic function was demonstrated experimentally in comparison with a conventional catheter.

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Section: Discussionmentioning

confidence: 99%

Advantage of Steerable Catheter and Haptic Feedback for a 5-DOF Vascular Intervention Robot System

2019

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“…Chi et al proposed using artificial intelligence to enable the interventional surgery robot to learn from the demonstration of the operation by experts to complete the operation independently or explore autonomously within the vascular model to try to accomplish the surgical goals. The experimental results showed that artificial intelligence could achieve this goal and a more accurate and smoother operation process than manual operation (63)(64)(65)(66).…”

Section: Vascular Interventional Robotic Systemmentioning

confidence: 92%

Precision Interventional Brachytherapy: A Promising Strategy Toward Treatment of Malignant Tumors

Guan

Ren

et al. 2021

Front. Oncol.

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Precision interventional brachytherapy is a radiotherapy technique that combines radiation therapy medicine with computer network technology, physics, etc. It can solve the limitations of conventional brachytherapy. Radioactive drugs and their carriers change with each passing day, and major research institutions and enterprises worldwide have conducted extensive research on them. In addition, the capabilities of interventional robotic systems are also rapidly developing to meet clinical needs for the precise delivery of radiopharmaceuticals in interventional radiotherapy. This study reviews the main radiopharmaceuticals, drug carriers, dispensing and fixation technologies, and interventional robotic precision delivery systems used in precision brachytherapy of malignant tumors. We then discuss the current needs in the field and future development prospects in high-precision interventional brachytherapy.

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“…Moreover, RL has been used for rapid trajectory generation for a bimanual needle regrasping task, which is one of the most challenging sub-task of suturing [180] . To avoid collision between surgical tools and delicate tissue regions in the human body, a collision-avoidance path planning algorithm for the laparoscopic robot was designed by combining probabilistic roadmap and RL methods [181] . Dynamic movement primitives (DMP) has been integrated with RL for autonomous cholecystectomy [182] , which can optimize the trajectory of the surgical robot's end-effector and avoid unwanted contact between the catheter tip and the vessel wall.…”

Section: Rl For Autonomous Ramsmentioning

confidence: 99%

From Teleoperation to Autonomous Robot-assisted Microsurgery: A Survey

Zhang

Fang

et al. 2022

Mach. Intell. Res.

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Robot-assisted microsurgery (RAMS) has many benefits compared to traditional microsurgery. Microsurgical platforms with advanced control strategies, high-quality micro-imaging modalities and micro-sensing systems are worth developing to further enhance the clinical outcomes of RAMS. Within only a few decades, microsurgical robotics has evolved into a rapidly developing research field with increasing attention all over the world. Despite the appreciated benefits, significant challenges remain to be solved. In this review paper, the emerging concepts and achievements of RAMS will be presented. We introduce the development tendency of RAMS from teleoperation to autonomous systems. We highlight the upcoming new research opportunities that require joint efforts from both clinicians and engineers to pursue further outcomes for RAMS in years to come.

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Trajectory Optimization of Robot-Assisted Endovascular Catheterization with Reinforcement Learning

Cited by 33 publications

References 22 publications

Advantage of Steerable Catheter and Haptic Feedback for a 5-DOF Vascular Intervention Robot System

Advantage of Steerable Catheter and Haptic Feedback for a 5-DOF Vascular Intervention Robot System

Precision Interventional Brachytherapy: A Promising Strategy Toward Treatment of Malignant Tumors

From Teleoperation to Autonomous Robot-assisted Microsurgery: A Survey

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