# VascularPilot3D: Toward a 3D fully autonomous navigation for endovascular robotics

arXiv: https://arxiv.org/abs/2405.09375 · HTML: https://mlsanity.com/paper/2405.09375/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 15 May 2024.

## Built on by (most cited first, 3 of 3)

- [Advancing Embodied Intelligence in Robotic-Assisted Endovascular Procedures: A Systematic Review of AI Solutions](https://mlsanity.com/paper/2504.15327/) (2025)
- [Towards Next-Generation Healthcare: A Survey of Medical Embodied AI for Perception, Decision-Making, and Action](https://mlsanity.com/paper/2606.15647/) (2026)
- [Real-Time Guidewire Tip Tracking Using a Siamese Network for Image-Guided Endovascular Procedures](https://mlsanity.com/paper/2507.00051/) (2025)

## Abstract (arXiv)

This research reports VascularPilot3D, the first 3D fully autonomous endovascular robot navigation system. As an exploration toward autonomous guidewire navigation, VascularPilot3D is developed as a complete navigation system based on intra-operative imaging systems (fluoroscopic X-ray in this study) and typical endovascular robots. VascularPilot3D adopts previously researched fast 3D-2D vessel registration algorithms and guidewire segmentation methods as its perception modules. We additionally propose three modules: a topology-constrained 2D-3D instrument end-point lifting method, a tree-based fast path planning algorithm, and a prior-free endovascular navigation strategy. VascularPilot3D is compatible with most mainstream endovascular robots. Ex-vivo experiments validate that VascularPilot3D achieves 100% success rate among 25 trials. It reduces the human surgeon's overall control loops by 18.38%. VascularPilot3D is promising for general clinical autonomous endovascular navigations.