发表机构
Mayo Clinic; Arizona State University（妙佑医疗国际（梅奥诊所）; 亚利桑那州立大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究针对磁驱动 untethered 血管内微型机器人三维导航的临床障碍，提出 VISTA 数字孪生框架，利用单平面荧光透视实现无造影剂自主导航，显著缩短导航时间、减少校正指令与辐射暴露。
AI 中文摘要
磁驱动 untethered 微型机器人的可靠三维（3D）导航仍是其临床转化的主要障碍。X射线荧光透视是血管内手术的标准实时成像方式，但单平面荧光透视仅提供二维（2D）投影，缺失深度信息，增加了自主导航的难度。通过双平面成像或重复造影增强血管造影术恢复深度信息会增加手术复杂度、辐射暴露或造影剂负担。本文提出 VISTA（Virtual Integration for Spatial Tracking and Autonomy，空间跟踪与自主虚拟整合），一种可在单平面荧光透视下实现无造影剂自主导航的数字孪生框架。VISTA 将血管解剖结构重建为三维数字孪生模型，将血管中心线离散为导航里程碑，并将检测到的二维机器人位置分配给最近的投影里程碑。连续里程碑定义用于生成磁驱动指令的局部血管方向，将单平面荧光透视观测转换为拓扑约束的导航状态，无需在导航过程中注射造影剂。在连续流动的不同解剖结构血管体模、以及活体大鼠下腔静脉体内实验中对 VISTA 进行了验证。与传统的人在环荧光透视控制相比，VISTA 使导航时间减少了最多 62%，校正驱动指令减少了最多 98%，辐射暴露减少了最多 57%。这些结果表明，VISTA 是一种由数字孪生引导的框架，可利用广泛可用的单平面荧光透视实现 untethered 血管内微型机器人的无造影剂自主导航。
英文摘要
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.
Comments34 pages, 9374 words
