{"id":"https://openalex.org/W7128783586","doi":"https://doi.org/10.1109/lra.2026.3664661","title":"Toward AI Autonomous Navigation for Mechanical Thrombectomy Using Hierarchical Modular Multi-Agent Reinforcement Learning (HM-MARL)","display_name":"Toward AI Autonomous Navigation for Mechanical Thrombectomy Using Hierarchical Modular Multi-Agent Reinforcement Learning (HM-MARL)","publication_year":2026,"publication_date":"2026-02-13","ids":{"openalex":"https://openalex.org/W7128783586","doi":"https://doi.org/10.1109/lra.2026.3664661"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2026.3664661","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3664661","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/lra.2026.3664661","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5125907032","display_name":"H. Robertshaw","orcid":null},"institutions":[{"id":"https://openalex.org/I164213776","display_name":"King's College - North Carolina","ror":"https://ror.org/022f44628","country_code":"US","type":"education","lineage":["https://openalex.org/I164213776"]},{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"H. Robertshaw","raw_affiliation_strings":["Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, Kings College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-5486-8062","affiliations":[{"raw_affiliation_string":"Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, Kings College London, London, U.K","institution_ids":["https://openalex.org/I164213776","https://openalex.org/I183935753","https://openalex.org/I4210119896"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125913262","display_name":"N. Fischer","orcid":null},"institutions":[{"id":"https://openalex.org/I164213776","display_name":"King's College - North Carolina","ror":"https://ror.org/022f44628","country_code":"US","type":"education","lineage":["https://openalex.org/I164213776"]},{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"N. Fischer","raw_affiliation_strings":["Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, Kings College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0001-9364-3328","affiliations":[{"raw_affiliation_string":"Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, Kings College London, London, U.K","institution_ids":["https://openalex.org/I164213776","https://openalex.org/I183935753","https://openalex.org/I4210119896"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052212725","display_name":"Lennart Karstensen","orcid":"https://orcid.org/0000-0003-2162-3680"},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"L. Karstensen","raw_affiliation_strings":["AIBE, Friedrich-Alexander University Erlangen-Nurnberg, Erlangen, Germany"],"raw_orcid":"https://orcid.org/0000-0003-2162-3680","affiliations":[{"raw_affiliation_string":"AIBE, Friedrich-Alexander University Erlangen-Nurnberg, Erlangen, Germany","institution_ids":["https://openalex.org/I181369854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125929652","display_name":"B. Jackson","orcid":null},"institutions":[{"id":"https://openalex.org/I164213776","display_name":"King's College - North Carolina","ror":"https://ror.org/022f44628","country_code":"US","type":"education","lineage":["https://openalex.org/I164213776"]},{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"B. Jackson","raw_affiliation_strings":["Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, Kings College London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, Kings College London, London, U.K","institution_ids":["https://openalex.org/I164213776","https://openalex.org/I183935753","https://openalex.org/I4210119896"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125992743","display_name":"X. Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I164213776","display_name":"King's College - North Carolina","ror":"https://ror.org/022f44628","country_code":"US","type":"education","lineage":["https://openalex.org/I164213776"]},{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"X. Chen","raw_affiliation_strings":["Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, Kings College London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, Kings College London, London, U.K","institution_ids":["https://openalex.org/I164213776","https://openalex.org/I183935753","https://openalex.org/I4210119896"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125921409","display_name":"H. Sadati","orcid":null},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"S. M. Hadi Sadati","raw_affiliation_strings":["School of Engineering and Materials Science, Queen Mary University of London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-5862-265X","affiliations":[{"raw_affiliation_string":"School of Engineering and Materials Science, Queen Mary University of London, London, U.K","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125893234","display_name":"C. Bergeles","orcid":null},"institutions":[{"id":"https://openalex.org/I164213776","display_name":"King's College - North Carolina","ror":"https://ror.org/022f44628","country_code":"US","type":"education","lineage":["https://openalex.org/I164213776"]},{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"C. Bergeles","raw_affiliation_strings":["Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, Kings College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-9152-3194","affiliations":[{"raw_affiliation_string":"Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, Kings College London, London, U.K","institution_ids":["https://openalex.org/I164213776","https://openalex.org/I183935753","https://openalex.org/I4210119896"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125982674","display_name":"A. Granados","orcid":null},"institutions":[{"id":"https://openalex.org/I164213776","display_name":"King's College - North Carolina","ror":"https://ror.org/022f44628","country_code":"US","type":"education","lineage":["https://openalex.org/I164213776"]},{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"A. Granados","raw_affiliation_strings":["Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, Kings College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-2866-1324","affiliations":[{"raw_affiliation_string":"Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, Kings College London, London, U.K","institution_ids":["https://openalex.org/I164213776","https://openalex.org/I183935753","https://openalex.org/I4210119896"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5125919671","display_name":"T. C. Booth","orcid":null},"institutions":[{"id":"https://openalex.org/I164213776","display_name":"King's College - North Carolina","ror":"https://ror.org/022f44628","country_code":"US","type":"education","lineage":["https://openalex.org/I164213776"]},{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"T. C. Booth","raw_affiliation_strings":["Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, Kings College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0003-0984-3998","affiliations":[{"raw_affiliation_string":"Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, Kings College London, London, U.K","institution_ids":["https://openalex.org/I164213776","https://openalex.org/I183935753","https://openalex.org/I4210119896"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1805374,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"4","first_page":"4745","last_page":"4752"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.20239999890327454,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.20239999890327454,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"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/T11486","display_name":"Micro and Nano Robotics","score":0.15800000727176666,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.08370000123977661,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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":0.7662000060081482},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7217000126838684},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6674000024795532},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5253000259399414},{"id":"https://openalex.org/keywords/internal-carotid-artery","display_name":"Internal carotid artery","score":0.35179999470710754},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3190000057220459},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.30239999294281006}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7662000060081482},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7217000126838684},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6674000024795532},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5834000110626221},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5551999807357788},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5253000259399414},{"id":"https://openalex.org/C2778333808","wikidata":"https://www.wikidata.org/wiki/Q515848","display_name":"Internal carotid artery","level":2,"score":0.35179999470710754},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3190000057220459},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.30239999294281006},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.30000001192092896},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2985000014305115},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.29350000619888306},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2831000089645386},{"id":"https://openalex.org/C2987047532","wikidata":"https://www.wikidata.org/wiki/Q214275","display_name":"Carotid arteries","level":2,"score":0.2806999981403351},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.28029999136924744},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2696000039577484},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.26589998602867126},{"id":"https://openalex.org/C22367795","wikidata":"https://www.wikidata.org/wiki/Q7625208","display_name":"Structured prediction","level":2,"score":0.2565999925136566},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.25380000472068787}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2026.3664661","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3664661","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2602.18663","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2602.18663","pdf_url":"https://arxiv.org/pdf/2602.18663","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/f3aea6c2-e474-4fd4-a85a-e6c490e9ac76","is_oa":true,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/f3aea6c2-e474-4fd4-a85a-e6c490e9ac76","pdf_url":"https://kclpure.kcl.ac.uk/ws/files/366569529/Toward_AI_Autonomous_Navigation_for_Mechanical_Thrombectomy_Using_Hierarchical_Modular_Multi-Agent_Reinforcement_Learning_HM-MARL_Version_of_Record.pdf","source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robertshaw, H, Fischer, N, Karstensen, L, Jackson, B, Chen, X, Sadati, S M H, Bergeles, C, Granados, A & Booth, T C 2026, ''Toward AI Autonomous Navigation for Mechanical Thrombectomy using Hierarchical Modular Multi-agent Reinforcement Learning (HM-MARL)', IEEE Robotics and Automation Letters, vol. 11, no. 4, pp. 4745-4752. https://doi.org/10.1109/LRA.2026.3664661","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:doi:10.48550/arxiv.2602.18663","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":{"id":"doi:10.1109/lra.2026.3664661","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3664661","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2692987181","display_name":"DTP 2018-19 Kings College London","funder_award_id":"EP/R513064/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4276055848","display_name":null,"funder_award_id":"EP/R513064/1","funder_id":"https://openalex.org/F4320334626","funder_display_name":"Medical Research Council"},{"id":"https://openalex.org/G5226101330","display_name":null,"funder_award_id":"EP/R513064/1","funder_id":"https://openalex.org/F4320311904","funder_display_name":"Wellcome Trust"},{"id":"https://openalex.org/G5907639349","display_name":"King's College London Medical Engineering Centre of Research Excellence","funder_award_id":"203148","funder_id":"https://openalex.org/F4320311904","funder_display_name":"Wellcome Trust"},{"id":"https://openalex.org/G8395594196","display_name":"MRC IAA 2021 Kings College London","funder_award_id":"MR/X502923/1","funder_id":"https://openalex.org/F4320334626","funder_display_name":"Medical Research Council"},{"id":"https://openalex.org/G903728877","display_name":null,"funder_award_id":"203148/A/16/Z","funder_id":"https://openalex.org/F4320311904","funder_display_name":"Wellcome Trust"}],"funders":[{"id":"https://openalex.org/F4320311904","display_name":"Wellcome Trust","ror":"https://ror.org/029chgv08"},{"id":"https://openalex.org/F4320334626","display_name":"Medical Research Council","ror":"https://ror.org/03x94j517"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320334658","display_name":"Menzies Centre for Australian Studies, King's College London, University of London","ror":"https://ror.org/0220mzb33"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Mechanical":[0],"thrombectomy":[1],"(MT)":[2],"is":[3,18],"typically":[4],"the":[5,78,82,95,167,171,179,185,192,203,222],"optimal":[6],"treatment":[7],"for":[8,53],"acute":[9],"ischemic":[10],"stroke":[11],"involving":[12],"large":[13],"vessel":[14,187],"occlusions,":[15],"but":[16,35,182],"access":[17],"limited":[19],"due":[20,190],"to":[21,69,81,93,124,170,178,191],"geographic":[22],"and":[23,63,75,118,127,176,194,236],"logistical":[24],"barriers.":[25],"Reinforcement":[26,49],"learning":[27],"(RL)":[28],"shows":[29],"promise":[30],"in":[31,112,198,213],"autonomous":[32,54,211,247],"endovascular":[33],"navigation,":[34],"generalization":[36,126,219],"across":[37,150,220],"\u2018long\u2019":[38],"navigation":[39,56,97,212],"tasks":[40],"remains":[41],"challenging.":[42],"We":[43],"propose":[44],"a":[45,72,134,145],"Hierarchical":[46],"Modular":[47],"Multi-Agent":[48],"Learning":[50],"(HM-MARL)":[51],"framework":[52,109],"two-device":[55],"<italic":[57,114,119,130,154,207,241],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[58,115,120,131,155,208,242],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">in":[59,116,121,209,243],"vitro</i>,":[60,157],"enabling":[61],"efficient":[62],"generalizable":[64],"navigation.":[65,199],"HM-MARL":[66,159,217],"was":[67,91,110],"developed":[68],"autonomously":[70],"navigate":[71],"guide":[73],"catheter":[74,195],"guidewire":[76],"from":[77,166],"femoral":[79,168],"artery":[80,85,169,175],"internal":[83],"carotid":[84,174],"(ICA).":[86],"A":[87],"modular":[88],"multi-agent":[89],"approach":[90],"used":[92,197],"decompose":[94],"complex":[96],"task":[98],"into":[99],"specialized":[100],"subtasks,":[101],"each":[102],"trained":[103],"using":[104,233],"Soft":[105],"Actor-Critic":[106],"RL.":[107],"The":[108],"validated":[111],"both":[113,158],"silico</i>":[117],"vitro</i>":[122,210,244],"testbeds":[123],"assess":[125],"real-world":[128],"feasibility.":[129],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">In":[132,156],"silico</i>,":[133],"single-vasculature":[135],"model":[136,147],"achieved":[137,148],"92\u2013100%":[138],"success":[139],"rates":[140],"on":[141,184,239],"individual":[142],"anatomies,":[143,221],"while":[144],"multi-vasculature":[146],"56\u201380%":[149],"multiple":[151],"patient":[152],"anatomies.":[153],"models":[160,235],"successfully":[161],"navigated":[162],"100%":[163],"of":[164,206],"trials":[165],"right":[172,180],"common":[173],"80%":[177],"ICA":[181],"failed":[183],"left-side":[186],"superhuman":[188],"challenge":[189],"anatomy":[193],"type":[196],"This":[200],"study":[201],"presents":[202],"first":[204],"demonstration":[205],"MT":[214,248],"vasculature.":[215],"While":[216],"enables":[218],"simulation-to-real":[223],"transition":[224],"introduces":[225],"challenges.":[226],"Future":[227],"work":[228],"will":[229],"refine":[230],"RL":[231],"strategies":[232],"world":[234],"validate":[237],"performance":[238],"unseen":[240],"data,":[245],"advancing":[246],"towards":[249],"clinical":[250],"translation.":[251]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-02-14T00:00:00"}
