A transformer network that outputs B-spline control points for guidewire shape enables a real robot to cannulate the brachiocephalic artery autonomously with a 50% success rate.
Collaborative robot-assisted endovascular catheterization with generative adversarial imitation learning,
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SplineFormer: An Explainable Transformer-Based Approach for Autonomous Endovascular Navigation
A transformer network that outputs B-spline control points for guidewire shape enables a real robot to cannulate the brachiocephalic artery autonomously with a 50% success rate.