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Contrast-Free Autonomous Navigation of Untethered Endovascular Microrobots Using Single-Plane Fluoroscopy — arXiv:2608.30220

Source: arXiv (en)
Original: https://arxiv.org/abs/2608.30220
License (as archived): CC0-1.0
Archived: 2026-10-17T10:06:54.285Z
SHA-256 of the archived text: 9477403d3a27ec43d6c241d10b9515276a9f58874a9a83d709acc22af0e7e8f0
Stable URL of this page: https://metraipolis.com/documento/dc_da657ebad884

How to cite

Contrast-Free Autonomous Navigation of Untethered Endovascular Microrobots Using Single-Plane Fluoroscopy — arXiv:2608.30220 — arXiv (en), https://arxiv.org/abs/2608.30220 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_da657ebad884 (Metraipolis archive dc_da657ebad884, sha256 9477403d3a27ec43d6c241d10b9515276a9f58874a9a83d709acc22af0e7e8f0)

BibTeX

@misc{dcda657ebad884,
  title = {Contrast-Free Autonomous Navigation of Untethered Endovascular Microrobots Using Single-Plane Fluoroscopy — arXiv:2608.30220},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2608.30220},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_da657ebad884; sha256 9477403d3a27ec43d6c241d10b9515276a9f58874a9a83d709acc22af0e7e8f0},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2608.30220. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Reliable three-dimensional (3D) navigation of magnetically actuated untethered microrobots remains a major barrier to clinical translation. X-ray fluoroscopy is the standard real-time imaging modality for endovascular procedures, but single-plane fluoroscopy provides only a two-dimensional (2D) projection, eliminating depth information and complicating autonomous navigation. Recovering this information through biplane imaging or repeated contrast-enhanced angiography increases procedural complexity, radiation exposure, or contrast burden. Here, we introduce VISTA (Virtual Integration for Spatial Tracking and Autonomy), a digital twin framework enabling contrast-free autonomous navigation under single-plane fluoroscopy. VISTA reconstructs vascular anatomy as a 3D digital twin, discretizes the vessel centerline into navigation milestones, and assigns the detected 2D robot position to the nearest projected milestone. Consecutive milestones define the local vessel orientation used to generate magnetic actuation commands, converting single-plane fluoroscopic observations into topology-constrained navigation states without requiring contrast injection during navigation. VISTA is demonstrated across anatomically distinct vascular phantoms under continuous flow and within the inferior vena cava of a live rat in vivo. Compared with conventional fluoroscopic human-in-the-loop control, VISTA reduced navigation time by up to 62%, corrective actuation commands by up to 98%, and radiation exposure by up to 57%. These results establish VISTA as a digital twin-guided framework for contrast-free autonomous navigation of untethered endovascular microrobots using widely available single-plane fluoroscopy.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-09-01 in cs.RO).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2608.30220 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-17T09:58:57.803Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-09-01?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).