Embodied Intelligence in Endovascular Robot Navigation

血管介入手术机器人具身导航

Contents - 目录

• 1. Medical Background - 血管介入手术医学背景
• 2. Embodied Intelligence in Medical Robotics - 医疗机器人具身智能
• 3. Algorithm - 算法理论
• 4. Endovascular Robotics - 血管介入手术机器人
• 5. Paper Lists regarding Endovascular Robot Navigation - 血管介入机器人自主导航论文列表
• 6. Contributors and Institutes
• 👍 Citation - 引用
• 🏷️ License - 许可证
• ⭐️ Star History - Star历史

2. Embodied Intelligence in Medical Robotics - 医疗机器人具身智能

• [Nat. Rev. Phy. 2022] A concise guide to modelling the physics of embodied intelligence in soft robotics, website

• [CUHK Qi DOU's Team 2021-now] SurRoL: RL Centered and dVRK Compatible Platform for Surgical Robot Learning, website

• [RAL 2022] Open Simulation Environment for Learning and Practice of Robot-Assisted Surgical Suturing, website

• [IROS 2022] GESRsim: Gastrointestinal Endoscopic Surgical Robot Simulator, website

• [RAM 2023] Learning-based control strategies for soft robots: Theory, achievements, and future challenges, website

• [RAL 2023] Towards Human-Robot Collaborative Surgery: Trajectory and Strategy Learning in Bimanual Peg Transfer, website

• [RAL 2023] Learning Needle Pick-and-Place Without Expert Demonstrations, website

• [JMLR 2023] LapGym - An Open Source Framework for Reinforcement Learning in Robot-Assisted Laparoscopic Surgery, website

• [Nat. Comm. 2024] AI co-pilot bronchoscope robot, website

• [TASE 2024] Data-Driven Methods Applied to Soft Robot Modeling and Control: A Review, website

• [CoRL 2024] Surgical Robot Transformer: Imitation Learning for Surgical Tasks, website

• [UoT & NVIDIA ICRA 2024] ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity, website

• [JHU & UCSD ICRA 2024] Surgical Gym: A high-performance GPU-based platform for surgical robot learning, website

• [ICRA 2024] A User-Centered Shared Control Scheme with Learning from Demonstration for Robotic Surgery, website

• [CVPRw 2024] Creating a Digital Twin of Spinal Surgery: A Proof of Concept, website

• [Arxiv 2024.6] SurgicAI: A Hierarchical Platform for Fine-Grained Surgical Policy Learning and Benchmarking, website

• [TASE 2024] Sim2Real Rope Cutting With a Surgical Robot Using Vision-Based Reinforcement Learning, website

• [RAL 2024] Autonomous Blood Suction for Robot-Assisted Surgery: A Sim-to-Real Reinforcement Learning Approach, website

• [MICCAI 2024] Transforming surgical interventions with embodied intelligence for ultrasound robotics, website

• [Arxiv 2024.9] Safe Navigation for Robotic Digestive Endoscopy via Human Intervention-based Reinforcement Learning, website

• [TMRB 2024] Visuomotor Policy Learning for Task Automation of Surgical Robot, website

• [IROS 2024] BronchoCopilot: Towards Autonomous Robotic Bronchoscopy via Multimodal Reinforcement Learning, website

• [IROS 2024] Towards a Surgeon-in-the-Loop Ophthalmic Robotic Apprentice using Reinforcement and Imitation Learning, website

• [IROS 2024] FF-SRL: High Performance GPU-Based Surgical Simulation For Robot Learning, website

• [IROS 2024] SuFIA: Language-Guided Augmented Dexterity for Robotic Surgical Assistants, website

• [Arxiv 2025.1] From Screens to Scenes: A Survey of Embodied AI in Healthcare, website

• [Arxiv 2025.3] Diffusion Stabilizer Policy for Automated Surgical Robot Manipulations, website

• [TMRB 2025] Towards Autonomous Cardiac Ultrasound Scanning: Combining Physician Expertise and Machine Intelligence, website

3. Algorithm - 算法理论

• [TPAMI 2023] Human-Guided Reinforcement Learning With Sim-to-Real Transfer for Autonomous Navigation, website

• [Arxiv 2024.6] OpenVLA: An Open-Source Vision-Language-Action Model, website

• [Arxiv 2024.10] π₀: Vision-Language-Action Flow Model for General Robot Control, website

4. Endovascular Robotics - 血管介入手术机器人

coming soon

5. Paper Lists regarding Endovascular Robot Navigation - 血管介入机器人自主导航论文列表

非learning的方法coming soon

• [TIE 2023] CASOG: Conservative actor-critic with smooth gradient for skill learning in robot-assisted intervention, website

• [Front. Hum. Neurosci. 2023] Artificial intelligence in the autonomous navigation of endovascular interventions: a systematic review, website

• [TRO 2023] Autonomous navigation for robot-assisted intraluminal and endovascular procedures: A systematic review, website

• [Arxiv 2024.5] VascularPilot3D: Toward a 3D fully autonomous navigation for endovascular robotics, website

• [TMRB 2024] Model-Based Offline Reinforcement Learning for Autonomous Delivery of Guidewire, website

• [TMRB 2024] CathSim: An Open-Source Simulator for Endovascular Intervention, website

• [TMech 2024] Transferring Virtual Surgical Skills to Reality: AI Agents Mastering Surgical Decision-Making in Vascular Interventional Robotics, website

• [IROS 2024] Autonomous Guidewire Navigation in Dynamic Environments, website

• [ICRA 2025] Sim4EndoR: A Reinforcement Learning Centered Simulation Platform for Task Automation of Endovascular Robotics, website

• [Arxiv 2024.10] Learning-Based Autonomous Navigation, Benchmark Environments and Simulation Framework for Endovascular Interventions, website

• [Arxiv 2024.11] Robotic transcatheter tricuspid valve replacement with hybrid enhanced intelligence: a new paradigm and first-in-vivo study, website

• [Arxiv 2025.1] SplineFormer: An Explainable Transformer-Based Approach for Autonomous Endovascular Navigation, website

• [TASE 2025] Sim2Real Learning with Domain Randomization for Autonomous Guidewire Navigation in Robotic-Assisted Endovascular Procedures, website

• [arXiv 2025.4] Advancing Embodied Intelligence in Robotic-Assisted Endovascular Procedures: A Systematic Review of AI Solutions, website

6. Contributors and Institutes

👍 Citation - 引用

If you find this repository helpful, please consider citing:

@article{yao2025advancing,
  title={Advancing Embodied Intelligence in Robotic-Assisted Endovascular Procedures: A Systematic Review of AI Solutions},
  author={Yao, Tianliang and Lu, Bo and Kowarschik, Markus and Yuan, Yixuan and Zhao, Hubin and Ourselin, Sebastien and Althoefer, Kaspar and Ge, Junbo and Qi, Peng},
  journal={arXiv preprint arXiv:2504.15327},
  year={2025}
}

🏷️ License - 许可证

This repository is released under the MIT license. See LICENSE for additional details.

⭐️ Star History - Star历史

Star History