Concept for a Reinforcement Learning Approach to Navigate Catheters Through Blood Vessels

2022 28th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)(2022)

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摘要
Minimally invasive procedures are state of the art in the treatment of cardiovascular diseases. The navigation of catheters is a challenging task for cardiologists. Therefore, new robot-based techniques are emerging to assist them. However, the task of navigation remains with the cardiologist. In this paper, a concept is presented for automating the navigation of a catheter using reinforcement learning on a simulation. The results show that the agent is able to learn how to navigate to a defined target point, which allows the study of more realistic scenarios.
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关键词
reinforcement learning,surgical robots,simulation,catheterization
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