{"id":"https://openalex.org/W4405786847","doi":"https://doi.org/10.1109/iros58592.2024.10802152","title":"BronchoCopilot: Towards Autonomous Robotic Bronchoscopy via Multimodal Reinforcement Learning","display_name":"BronchoCopilot: Towards Autonomous Robotic Bronchoscopy via Multimodal Reinforcement Learning","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786847","doi":"https://doi.org/10.1109/iros58592.2024.10802152"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802152","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802152","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102966970","display_name":"Jianbo Zhao","orcid":"https://orcid.org/0000-0003-3755-4691"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianbo Zhao","raw_affiliation_strings":["Chinese Academy of Sciences,Institute of Automation,Beijing,China,100190"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Institute of Automation,Beijing,China,100190","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100353673","display_name":"Hao Chen","orcid":"https://orcid.org/0009-0001-6480-7976"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Chen","raw_affiliation_strings":["University of Chinese Academy of Sciences,School of Artificial Intelligence,Beijing,China,100049"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences,School of Artificial Intelligence,Beijing,China,100049","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010914241","display_name":"Qingyao Tian","orcid":"https://orcid.org/0000-0001-8341-3705"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingyao Tian","raw_affiliation_strings":["Chinese Academy of Sciences,Institute of Automation,Beijing,China,100190"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Institute of Automation,Beijing,China,100190","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111069075","display_name":"Jian Chen","orcid":"https://orcid.org/0000-0003-4756-7154"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Chen","raw_affiliation_strings":["Chinese Academy of Sciences,Institute of Automation,Beijing,China,100190"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Institute of Automation,Beijing,China,100190","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070374998","display_name":"Bingyu Yang","orcid":"https://orcid.org/0000-0001-7221-978X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bingyu Yang","raw_affiliation_strings":["Chinese Academy of Sciences,Institute of Automation,Beijing,China,100190"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Institute of Automation,Beijing,China,100190","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089020338","display_name":"Zi\u2010Hui Zhang","orcid":"https://orcid.org/0000-0003-0638-1118"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zihui Zhang","raw_affiliation_strings":["Chinese Academy of Sciences,Institute of Automation,Beijing,China,100190"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Institute of Automation,Beijing,China,100190","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100408233","display_name":"Hongbin Liu","orcid":"https://orcid.org/0000-0001-7585-0622"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbin Liu","raw_affiliation_strings":["Chinese Academy of Sciences,Institute of Automation,Beijing,China,100190"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Institute of Automation,Beijing,China,100190","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6923","last_page":"6930"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11260","display_name":"Tracheal and airway disorders","score":0.602400004863739,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T11260","display_name":"Tracheal and airway disorders","score":0.602400004863739,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11751","display_name":"Lattice Boltzmann Simulation Studies","score":0.5478000044822693,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11181","display_name":"Advanced Data Storage Technologies","score":0.5331000089645386,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7631843090057373},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6254780888557434},{"id":"https://openalex.org/keywords/bronchoscopy","display_name":"Bronchoscopy","score":0.418946236371994},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4002339243888855},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.37490737438201904},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.17056047916412354},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.0678439736366272}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7631843090057373},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6254780888557434},{"id":"https://openalex.org/C2778996910","wikidata":"https://www.wikidata.org/wiki/Q237232","display_name":"Bronchoscopy","level":2,"score":0.418946236371994},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4002339243888855},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37490737438201904},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.17056047916412354},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0678439736366272}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802152","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802152","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1677182931","https://openalex.org/W2032684977","https://openalex.org/W2045898750","https://openalex.org/W2082971343","https://openalex.org/W2103950670","https://openalex.org/W2132386660","https://openalex.org/W2146990154","https://openalex.org/W2169616182","https://openalex.org/W2194775991","https://openalex.org/W2201506230","https://openalex.org/W2735048916","https://openalex.org/W2767290858","https://openalex.org/W2803419220","https://openalex.org/W2910913210","https://openalex.org/W2948822404","https://openalex.org/W2963367210","https://openalex.org/W2968093824","https://openalex.org/W3004058922","https://openalex.org/W3004815555","https://openalex.org/W3012366945","https://openalex.org/W3014518962","https://openalex.org/W3034419097","https://openalex.org/W3090407809","https://openalex.org/W3137532763","https://openalex.org/W3163015687","https://openalex.org/W3202314155","https://openalex.org/W4200553277","https://openalex.org/W4211112120","https://openalex.org/W4281290335","https://openalex.org/W4285102554","https://openalex.org/W4310699665","https://openalex.org/W4312466183","https://openalex.org/W4375957612","https://openalex.org/W4390562463","https://openalex.org/W4391305456","https://openalex.org/W4401413994","https://openalex.org/W6627932998","https://openalex.org/W6628877408","https://openalex.org/W6638668618","https://openalex.org/W6738700159","https://openalex.org/W6741002519","https://openalex.org/W6745967843","https://openalex.org/W6757140150","https://openalex.org/W6765340645","https://openalex.org/W6796149595","https://openalex.org/W6850289670"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4306904969","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2138720691","https://openalex.org/W2376932109"],"abstract_inverted_index":{"Bronchoscopy":[0],"plays":[1],"a":[2,78,90,116,156,185,201],"significant":[3],"role":[4],"in":[5,171,191],"the":[6,20,33,36,41,56,72,107,150,164,172],"early":[7],"diagnosis":[8],"and":[9,46,110,133,159],"treatment":[10],"of":[11,35,43,58,71,143,166,188],"lung":[12,38],"diseases.":[13],"This":[14,153],"process":[15],"demands":[16],"physicians":[17,65],"to":[18,55,95,129,137,162,204,206],"maneuver":[19],"flexible":[21],"endoscope":[22],"for":[23,99,115,149],"reaching":[24],"distal":[25],"lesions,":[26],"particularly":[27],"requiring":[28],"substantial":[29],"expertise":[30],"when":[31],"examining":[32],"airways":[34,194],"upper":[37],"lobe.":[39],"With":[40],"development":[42],"artificial":[44],"intelligence":[45],"robotics,":[47],"reinforcement":[48],"learning":[49],"(RL)":[50],"method":[51],"has":[52],"been":[53],"applied":[54],"manipulation":[57,97],"interventional":[59],"surgical":[60],"robots.":[61],"However,":[62],"unlike":[63],"human":[64],"who":[66],"utilize":[67,134],"multimodal":[68,91,131,182],"information,":[69,183],"most":[70],"current":[73],"RL":[74,92,151],"methods":[75],"rely":[76],"on":[77],"single":[79],"modality,":[80],"limiting":[81],"their":[82],"performance.":[83],"In":[84],"this":[85,144],"paper,":[86],"we":[87],"propose":[88],"BronchoCopilot,":[89,178],"agent":[93],"designed":[94],"acquire":[96],"skills":[98],"autonomous":[100],"bronchoscopy.":[101],"BronchoCopilot":[102],"specifically":[103],"integrates":[104],"images":[105],"from":[106],"bronchoscope":[108],"camera":[109],"estimated":[111],"robot":[112],"poses,":[113],"aiming":[114],"higher":[117],"success":[118,186],"rate":[119,187],"within":[120],"challenging":[121],"airway":[122],"environment.":[123],"We":[124],"employ":[125],"auxiliary":[126],"reconstruction":[127],"tasks":[128],"compress":[130],"data":[132],"attention":[135],"mechanisms":[136],"achieve":[138],"an":[139],"efficient":[140],"latent":[141],"representation":[142],"data,":[145],"serving":[146],"as":[147],"input":[148],"module.":[152],"framework":[154],"adopts":[155],"stepwise":[157],"training":[158,167],"fine-tuning":[160],"approach":[161],"mitigate":[163],"challenges":[165],"difficulty.":[168],"Our":[169],"evaluation":[170],"realistic":[173],"simulation":[174],"environment":[175],"reveals":[176],"that":[177],"by":[179],"effectively":[180],"harnessing":[181],"attains":[184],"approximately":[189],"90%":[190],"fifth":[192],"generation":[193],"with":[195],"consistent":[196],"movements.":[197],"Additionally,":[198],"it":[199],"demonstrates":[200],"robust":[202],"capacity":[203],"adapt":[205],"diverse":[207],"cases.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":6}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
