血管インターベンションのための実機マスタ・シミュレーション連携インタフェースと成功軌道によるガイダンス
A Master-to-Simulation Interface with Demonstration-Trajectory Guidance for Vascular Intervention
実機のロボットマスタとSOFA物理シミュレータを接続し、成功した操作軌道を視覚ガイダンスとして提示することで、血管インターベンション課題の効率と安全性が向上することをファントム実験で示した。
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著者: Mingyu Zou, Shuxiang Guo, Sheng Cao, Pengcheng Li, Jian Guo, Bin Wang, Mingchao Din
分類: cs.RO
原文アブストラクト
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.