Hierarchical HMM Based Learning of Navigation Primitives for Cooperative Robotic Endovascular Catheterization

@article{RafiiTari2014HierarchicalHB,
  title={Hierarchical HMM Based Learning of Navigation Primitives for Cooperative Robotic Endovascular Catheterization},
  author={Hedyeh Rafii-Tari and Jindong Liu and Christopher J. Payne and Colin D. Bicknell and Guang-Zhong Yang},
  journal={Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention},
  year={2014},
  volume={17 Pt 1},
  pages={496-503}
}
Despite increased use of remote-controlled steerable catheter navigation systems for endovascular intervention, most current designs are based on master configurations which tend to alter natural operator tool interactions. This introduces problems to both ergonomics and shared human-robot control. This paper proposes a novel cooperative robotic catheterization system based on learning-from-demonstration. By encoding the higher-level structure of a catheterization task as a sequence of… CONTINUE READING