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)
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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