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论文arXiv 2610.1939514 天前

用于血管介入的带示范轨迹引导的主端到仿真接口 ​

该研究面向机器人血管介入引导不足问题，构建主端到SOFA接口，并在物理模型实验中验证成功轨迹引导效果。

AI 整理
  • 本体 SDK 与控制
  • 仿真与训练
  • 数据与采集

原文链接：A Master-to-Simulation Interface with Demonstration-Trajectory Guidance for Vascular Intervention（arXiv 2610.19395 · 发布日期：2026-10-14）

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

该研究面向机器人血管介入引导不足问题，构建主端到SOFA接口，并在物理模型实验中验证成功轨迹引导效果。

核心要点 ​

  • 常规透视图像空间信息有限，使机器人血管介入中的有效引导仍具挑战。
  • 系统连接真实机器人主控制器与SOFA物理仿真平台，复用成功操作轨迹作视觉引导。
  • 实验验证主端到SOFA控制闭环，并比较无引导、中心线引导和成功轨迹引导。
  • 成功轨迹引导相较无引导减少完成时间、碰撞、回撤和旋转次数，中心线引导无明显改善。

验证范围与局限：验证包括速度模式下主端到SOFA控制闭环，以及物理血管模型中的三种引导条件对比。

英文摘要 (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.

作者：Mingyu Zou, Shuxiang Guo, Sheng Cao, Pengcheng Li, Jian Guo, Bin Wang, Mingchao Din

来源

本页事实对应的公开页面，以原文为准。

  1. arXiv 2610.19395：A Master-to-Simulation Interface with Demonstration-Trajectory Guidance for Vascular Intervention访问 2026-10-21