A Master-to-Simulation Interface with Demonstration-Trajectory Guidance for Vascular Intervention

Engineering notes

Engineering notes will be added by the Robot Papers editorial team.

Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Robotic vascular intervention can reduce radiation exposure to physicians and improve manipulation stability, but effective guidance remains challenging because conventional fluoroscopic images provide limited spatial information. This paper developed a vascular intervention interactive system that connects a real robotic master controller with the SOFA(Simulation Open Framework Architecture) physical simulation platform and reused successful operation trajectories as visual guidance in physical phantom experiments. Experiments were conducted to validate the master-to-SOFA control loop and to compare three guidance conditions: no guidance, centerline guidance, and successful-trajectory guidance. The control validation results showed reliable command delivery under velocity-mode operation. In the physical phantom experiment, centerline guidance showed no obvious improvement over no guidance. In contrast, successful trajectory guidance provided a clear performance benefit. Compared with the no-guidance condition, it reduced task completion time, collision number, rollback number, and rotation number by approximately 66.8%, 34.3%, 55.6%, and 66.7%, respectively. These results indicate that successful trajectories obtained under instrument-vessel interaction can provide practical guidance cues, offering a simple and effective visual assistance strategy for robotic vascular intervention experiments.

Links and sources

• Official / arXiv page
• PDF from original source

Comments