2 papers
cs.RO2026
Toward Autonomous Soft Robotic Endovascular Navigation via Imitation Learning
Noah Barnes, Ji Woong Kim, Lingyun Di +11
In endovascular surgery, endovascular interventionists push a thin tube called a catheter, guided by a thin wire to a treatment site inside the patient's blood vessels to treat var…
cs.RO2026
Modeling and Control of a Pneumatic Soft Robotic Catheter Using Neural Koopman Operators
Yiyao Yue, Noah Barnes, Lingyun Di +4
Catheter-based interventions are widely used for the diagnosis and treatment of cardiac diseases. Recently, robotic catheters have attracted attention for their ability to improve…