Collaborative Robot-Assisted Endovascular Catheterization with Generative Adversarial Imitation Learning

Wenqiang Chi, Giulio Dagnino, Trevor M. Y. Kwok, Anh Nguyen, Dennis Kundrat, Mohamed E. M. K. Abdelaziz, Celia Riga, Colin Bicknell, Guang-zhong Yang

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

33 Citations (Scopus)


Master-slave systems for endovascular catheterization have brought major clinical benefits including reduced radiation doses to the operators, improved precision and stability of the instruments, as well as reduced procedural duration. Emerging deep reinforcement learning (RL) technologies could potentially automate more complex endovascular tasks with enhanced success rates, more consistent motion and reduced fatigue and cognitive workload of the operators. However, the complexity of the pulsatile flows within the vasculature and non-linear behavior of the instruments hinder the use of model-based approaches for RL. This paper describes model-free generative adversarial imitation learning to automate a standard arterial catherization task. The automation policies have been trained in a pre-clinical setting. Detailed validation results show high success rates after skill transfer to a different vascular anatomical model. The quality of the catheter motions also shows less mean and maximum contact forces compared to manual-based approaches.
Original languageEnglish
Title of host publication2020 IEEE International Conference on Robotics and Automation (ICRA)
ISBN (Electronic)978-1-7281-7395-5
Publication statusPublished - 15 Sep 2020
Externally publishedYes
EventInternational Conference on Robotics and Automation, ICRA 2020 - Virtual Conference, Paris, France
Duration: 31 May 202031 Aug 2020


ConferenceInternational Conference on Robotics and Automation, ICRA 2020
Abbreviated titleICRA 2020
Internet address


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