Embodied-Intelligence-in-Endovascular-Robot-Navigation

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Embodied-Intelligence-in-Endovascular-Robot-Navigation

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Embodied Intelligence in Endovascular Robot Navigation -- 血管介入手术机器人具身导航

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<h1 align="center">Embodied Intelligence in Endovascular Robot Navigation</h1>
<h1 align="center">血管介入手术机器人具身导航 (医疗机器人具身智能)</h1>

# Contents - 目录

<nav>
  <ul>
    <li><a href="#start">1. Medical Background - 血管介入手术医学背景</a></li>
    <li><a href="#info">2. Embodied Intelligence in Medical Robotics - 医疗机器人具身智能</a></li>
    <li><a href="#algorithm">3. Algorithm - 算法理论</a>
    <li><a href="#robotics">4. Endovascular Robotics - 血管介入手术机器人</a>
    <li><a href="#paper_list">5. Paper Lists regarding Endovascular Robot Navigation - 血管介入机器人自主导航论文列表</a></li>
    <li><a href="#Contributors">6. Contributors and Institutes</a></li>
    <li><a href="#cite">👍 Citation - 引用</a></li>
    <li><a href="#license">🏷️ License - 许可证</a></li>
    <li><a href="#star-history">⭐️ Star History - Star历史</a></li>
  </ul>
</nav>

# 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](https://www.nature.com/articles/s42254-022-00481-z)

* **[CUHK Qi DOU's Team 2021-now]** SurRoL: RL Centered and dVRK Compatible Platform for Surgical Robot Learning, [website](https://med-air.github.io/SurRoL/)

* **[RAL 2022]** Open Simulation Environment for Learning and Practice of Robot-Assisted Surgical Suturing, [website](https://ieeexplore.ieee.org/abstract/document/9697399)

* **[IROS 2022]** GESRsim: Gastrointestinal Endoscopic Surgical Robot Simulator, [website](https://ieeexplore.ieee.org/abstract/document/9982138)

* **[RAM 2023]** Learning-based control strategies for soft robots: Theory, achievements, and future challenges, [website](https://ieeexplore.ieee.org/abstract/document/10136428)
 
* **[RAL 2023]** Towards Human-Robot Collaborative Surgery: Trajectory and Strategy Learning in Bimanual Peg Transfer, [website](https://ieeexplore.ieee.org/abstract/document/10149474)

* **[RAL 2023]** Learning Needle Pick-and-Place Without Expert Demonstrations, [website](https://ieeexplore.ieee.org/abstract/document/10100702)

* **[JMLR 2023]** LapGym - An Open Source Framework for Reinforcement Learning in Robot-Assisted Laparoscopic Surgery, [website](https://www.jmlr.org/papers/v24/23-0207.html)

* **[Nat. Comm. 2024]** AI co-pilot bronchoscope robot, [website](https://www.nature.com/articles/s41467-023-44385-7)

* **[TASE 2024]** Data-Driven Methods Applied to Soft Robot Modeling and Control: A Review, [website](https://ieeexplore.ieee.org/abstract/document/10477253)

* **[CoRL 2024]** Surgical Robot Transformer: Imitation Learning for Surgical Tasks, [website](https://surgical-robot-transformer.github.io/)

* **[UoT & NVIDIA ICRA 2024]** ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity, [website](https://orbit-surgical.github.io/)

* **[JHU & UCSD ICRA 2024]** Surgical Gym: A high-performance GPU-based platform for surgical robot learning, [website](https://github.com/SamuelSchmidgall/SurgicalGym)

* **[ICRA 2024]** A User-Centered Shared Control Scheme with Learning from Demonstration for Robotic Surgery, [website](https://ieeexplore.ieee.org/abstract/document/10611089)

* **[CVPRw 2024]** Creating a Digital Twin of Spinal Surgery: A Proof of Concept, [website](https://openaccess.thecvf.com/content/CVPR2024W/DCAMI/html/Hein_Creating_a_Digital_Twin_of_Spinal_Surgery_A_Proof_of_CVPRW_2024_paper.html)

* **[Arxiv 2024.6]** SurgicAI: A Hierarchical Platform for Fine-Grained Surgical Policy Learning and Benchmarking, [website](https://arxiv.org/abs/2406.13865)

* **[TASE 2024]** Sim2Real Rope Cutting With a Surgical Robot Using Vision-Based Reinforcement Learning, [website](https://ieeexplore.ieee.org/abstract/document/10555544)

* **[RAL 2024]** Autonomous Blood Suction for Robot-Assisted Surgery: A Sim-to-Real Reinforcement Learning Approach, [website](https://ieeexplore.ieee.org/abstract/document/10578312)

* **[MICCAI 2024]** Transforming surgical interventions with embodied intelligence for ultrasound robotics, [website](https://link.springer.com/chapter/10.1007/978-3-031-72089-5_66)

* **[Arxiv 2024.9]** Safe Navigation for Robotic Digestive Endoscopy via Human Intervention-based Reinforcement Learning, [website](https://arxiv.org/abs/2409.15688)

* **[TMRB 2024]** Visuomotor Policy Learning for Task Automation of Surgical Robot, [website](https://ieeexplore.ieee.org/abstract/document/10685114)

* **[IROS 2024]** BronchoCopilot: Towards Autonomous Robotic Bronchoscopy via Multimodal Reinforcement Learning, [website](https://ieeexplore.ieee.org/abstract/document/10802152/authors#authors)

* **[IROS 2024]** Towards a Surgeon-in-the-Loop Ophthalmic Robotic Apprentice using Reinforcement and Imitation Learning, [website](https://ieeexplore.ieee.org/abstract/document/10802574)

* **[IROS 2024]** FF-SRL: High Performance GPU-Based Surgical Simulation For Robot Learning, [website](https://ieeexplore.ieee.org/abstract/document/10801658)

* **[IROS 2024]** SuFIA: Language-Guided Augmented Dexterity for Robotic Surgical Assistants, [website](https://ieeexplore.ieee.org/abstract/document/10802053)

* **[Arxiv 2025.1]** From Screens to Scenes: A Survey of Embodied AI in Healthcare, [website](https://www.researchgate.net/profile/Xu-Cao-10/publication/387976351_From_Screens_to_Scenes_A_Survey_of_Embodied_AI_in_Healthcare/links/679bf7798311ce680c448a9f/From-Screens-to-Scenes-A-Survey-of-Embodied-AI-in-Healthcare.pdf)

* **[Arxiv 2025.3]** Diffusion Stabilizer Policy for Automated Surgical Robot Manipulations, [website](https://arxiv.org/abs/2503.01252)

* **[Nat. Rev. Bioeng.]** Robotic surgery, [website](https://www.nature.com/articles/s44222-025-00294-6)

* **[Nat. Rev. Electr. Eng.]** Innovating robot-assisted surgery through large vision models, [website](https://www.nature.com/articles/s44287-025-00166-6)

* **[TMRB 2025]** Towards Autonomous Cardiac Ultrasound Scanning: Combining Physician Expertise and Machine Intelligence, [website](https://ieeexplore.ieee.org/document/10947183/authors#authors)

* **[Science Robotics 2025]** SRT-H: A hierarchical framework for autonomous surgery via language-conditioned imitation learning, [website](https://www.science.org/doi/10.1126/scirobotics.adt5254)

* **[Science Robotics 2025]** Surgical embodied intelligence for generalized task autonomy in laparoscopic robot-assisted surgery, [website](https://www.science.org/doi/10.1126/scirobotics.adt3093)

* **[Science Robotics 2025]** AI search, physician removal: Bronchoscopy robot bridges collaboration in foreign body aspiration, [website](https://www.science.org/doi/10.1126/scirobotics.adt5338)

* **[Nat. Comm. 2025]** Towards expert-level autonomous carotid ultrasonography with large-scale learning-based robotic system, [website](https://www.nature.com/articles/s41467-025-62865-w)

* **[CoRL 2025]** EndoVLA: Dual-Phase Vision-Language-Action Model for Autonomous Tracking in Endoscopy, [website](https://arxiv.org/abs/2505.15206)

* **[IROS 2025]** Jacobian Exploratory Dual-Phase Reinforcement Learning for Dynamic Endoluminal Navigation of Deformable Continuum Robots, [website](https://arxiv.org/abs/2509.00329)

* **[Arxiv 2025.8]** Contact-Aided Navigation of Flexible Robotic Endoscope Using Deep Reinforcement Learning in Dynamic Stomach, [website](https://arxiv.org/abs/2509.00319)

# 3. Algorithm - 算法理论

* **[TPAMI 2023]** Human-Guided Reinforcement Learning With Sim-to-Real Transfer for Autonomous Navigation, [website](https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10250993)

* **[Arxiv 2024.6]** OpenVLA: An Open-Source Vision-Language-Action Model, [website](https://openvla.github.io/)

* **[Arxiv 2024.10]** π₀: Vision-Language-Action Flow Model for General Robot Control, [website](https://www.physicalintelligence.company/blog/pi0)

# 4. Endovascular Robotics - 血管介入手术机器人

* **[IJMRCAS]** Guidewire simulation of endovascular intervention: A systematic review, [website](https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.2444) **导丝建模**

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

* **[TIE 2023]** CASOG: Conservative actor-critic with smooth gradient for skill learning in robot-assisted intervention, [website](https://ieeexplore.ieee.org/abstract/document/10254299)

* **[Front. Hum. Neurosci. 2023]** Artificial intelligence in the autonomous navigation of endovascular interventions: a systematic review, [website](https://www.frontiersin.org/journals/human-neuroscience/articles/10.3389/fnhum.2023.1239374/full)

* **[TRO 2023]** Autonomous navigation for robot-assisted intraluminal and endovascular procedures: A systematic review, [website](https://ieeexplore.ieee.org/abstract/document/10124062/)

* **[Arxiv 2024.5]** VascularPilot3D: Toward a 3D fully autonomous navigation for endovascular robotics, [website](https://arxiv.org/abs/2405.09375)

* **[TMRB 2024]** Model-Based Offline Reinforcement Learning for Autonomous Delivery of Guidewire, [website](https://ieeexplore.ieee.org/document/10542446)

* **[TMRB 2024]** CathSim: An Open-Source Simulator for Endovascular Intervention, [website](https://airvlab.github.io/cathsim/)

* **[TMech 2024]** Transferring Virtual Surgical Skills to Reality: AI Agents Mastering Surgical Decision-Making in Vascular Interventional Robotics, [website](https://ieeexplore.ieee.org/abstract/document/10598392)

* **[Arxiv 2024.8]** Cathaction: A benchmark for endovascular intervention understanding, [website](https://arxiv.org/abs/2408.13126)

* **[IROS 2024]** Autonomous Guidewire Navigation in Dynamic Environments, [website](https://ieeexplore.ieee.org/abstract/document/10801651)

* **[ICRA 2025]** Sim4EndoR: A Reinforcement Learning Centered Simulation Platform for Task Automation of Endovascular Robotics, [website](https://arxiv.org/abs/2504.05330)

* **[Arxiv 2024.10]** Learning-Based Autonomous Navigation, Benchmark Environments and Simulation Framework for Endovascular Interventions, [website](https://arxiv.org/pdf/2410.01956)

* **[Arxiv 2024.11]** Robotic transcatheter tricuspid valve replacement with hybrid enhanced intelligence: a new paradigm and first-in-vivo study, [website](https://arxiv.org/abs/2411.12478)

* **[Arxiv 2025.1]** SplineFormer: An Explainable Transformer-Based Approach for Autonomous Endovascular Navigation, [website](https://arxiv.org/abs/2501.04515)

* **[TBME 2025.2]** Imitation Learning for Path Planning in Cardiac Percutaneous Interventions, [website](https://ieeexplore.ieee.org/abstract/document/10887073/)

* **[TMRB 2025.3]** Model-Based Position Control of a Tendon-driven Variable-Length Continuum Robot for Minimally Invasive Mitral Valve Repair, [website](https://ieeexplore.ieee.org/abstract/document/10924216)

* **[TASE 2025.3]** Sim2Real Learning with Domain Randomization for Autonomous Guidewire Navigation in Robotic-Assisted Endovascular Procedures, [website](https://ieeexplore.ieee.org/abstract/document/10945450/)

* **[RBME 2025.4]** Advancing Embodied Intelligence in Robotic-Assisted Endovascular Procedures: A Systematic Review of AI Solutions, [website](https://ieeexplore.ieee.org/document/11301748)

* **[TFS 2025]** Multi-Agent Fuzzy Reinforcement Learning with LLM for Cooperative Navigation of Endovascular Robotics, [website](https://ieeexplore.ieee.org/abstract/document/11078928)

* **[TMRB 2025]** Experience-Based Fuzzy Logic Framework for Robot-Assisted Endovascular Intervention, [website](https://ieeexplore.ieee.org/abstract/document/11145181)

# 👍 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={IEEE Reviews in Biomedical Engineering},
  pages={1-19},
  publisher={IEEE},
  year={2025}
}
```

# 🏷️ License - 许可证
This repository is released under the MIT license. See [LICENSE](./LICENSE) for additional details.

# ⭐️ Star History - Star历史

## Star History

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