Collaborative Robot-Assisted Endovascular Catheterization with Generative Adversarial Imitation Learning
Wenqiang Chi,Giulio Dagnino,Trevor M. Y. Kwok,Anh Nguyen,Dennis Kundrat,Mohamed E. M. K. Abdelaziz,Celia Riga,Colin Bicknell,Guang-Zhong Yang,Wenqiang Chi,Giulio Dagnino,Trevor M. Y. Kwok,Anh Nguyen,Dennis Kundrat,Mohamed E. M. K. Abdelaziz,Celia Riga,Colin Bicknell,Guang-Zhong Yang
Master-slave systems for endovascular catheterization have brought major clinical benefits including reduced radiation doses to the operators, improved precision and stability of the instruments, as well as reduced procedural duration. Emerging deep reinforcement learning (RL) technologies could potentially automate more complex endovascular tasks with enhanced success rates, more consistent motio...
