{"id":"https://openalex.org/W7155357627","doi":"https://doi.org/10.48550/arxiv.2604.20151","title":"Toward Safe Autonomous Robotic Endovascular Interventions using World Models","display_name":"Toward Safe Autonomous Robotic Endovascular Interventions using World Models","publication_year":2026,"publication_date":"2026-04-22","ids":{"openalex":"https://openalex.org/W7155357627","doi":"https://doi.org/10.48550/arxiv.2604.20151"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.20151","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.20151","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.20151","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5134444326","display_name":"Harry Robertshaw","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Robertshaw, Harry","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134430134","display_name":"Nikola Fischer","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fischer, Nikola","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075565179","display_name":"Han\u2010Ru Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Han-Ru","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134371677","display_name":"Andrea Walker Perez","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Perez, Andrea Walker","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134397098","display_name":"Weiyuan Deng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Deng, Weiyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134418949","display_name":"Benjamin Jackson","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jackson, Benjamin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134449717","display_name":"Christos Bergeles","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bergeles, Christos","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134409765","display_name":"Alejandro Granados","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Granados, Alejandro","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5134370507","display_name":"Thomas C Booth","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Booth, Thomas C","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.7343999743461609,"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":0.7343999743461609,"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":0.17440000176429749,"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/T10420","display_name":"Intracranial Aneurysms: Treatment and Complications","score":0.011900000274181366,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6486999988555908},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5788000226020813},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4902999997138977},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.47130000591278076},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.3919000029563904},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38600000739097595}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6486999988555908},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5788000226020813},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4902999997138977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4823000133037567},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.47130000591278076},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39250001311302185},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.3919000029563904},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38600000739097595},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3808000087738037},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3418000042438507},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3312000036239624},{"id":"https://openalex.org/C2777160999","wikidata":"https://www.wikidata.org/wiki/Q1498222","display_name":"Endovascular surgery","level":2,"score":0.2831000089645386},{"id":"https://openalex.org/C65424074","wikidata":"https://www.wikidata.org/wiki/Q2221605","display_name":"Soft landing","level":2,"score":0.2802000045776367},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.2766000032424927},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.26010000705718994},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.25440001487731934}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.20151","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.20151","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.20151","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.20151","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"mechanical":[1],"thrombectomy":[2],"(MT)":[3],"presents":[4],"substantial":[5],"challenges":[6],"due":[7],"to":[8,161],"highly":[9],"variable":[10],"vascular":[11,113],"geometries":[12],"and":[13,74,92,136,204,217],"the":[14,31,97,146,176,189,210],"requirements":[15],"for":[16,30,60,156,215],"accurate,":[17],"real-time":[18],"control.":[19],"While":[20],"reinforcement":[21],"learning":[22],"(RL)":[23],"has":[24],"emerged":[25],"as":[26],"a":[27,57,67,79,122],"promising":[28],"paradigm":[29],"automation":[32],"of":[33,141,178,192,212],"endovascular":[34,62,220],"navigation,":[35],"existing":[36],"approaches":[37,105],"often":[38],"show":[39],"limited":[40],"robustness":[41],"when":[42],"faced":[43],"with":[44],"diverse":[45],"patient":[46],"anatomies":[47],"or":[48],"extended":[49],"navigation":[50,63,85,195],"horizons.":[51],"In":[52,118],"this":[53],"work,":[54],"we":[55],"investigate":[56],"world-model-based":[58],"framework":[59],"autonomous":[61,193],"built":[64],"on":[65,83],"TD-MPC2,":[66],"model-based":[68],"RL":[69],"method":[70],"that":[71],"integrates":[72],"planning":[73],"learned":[75],"dynamics.":[76],"We":[77],"evaluate":[78],"TD-MPC2":[80,120,157,167],"agent":[81],"trained":[82],"multiple":[84],"tasks":[86],"across":[87,197],"hold":[88,199],"out":[89,200],"patient-specific":[90,112],"vasculatures":[91],"benchmark":[93],"its":[94],"performance":[95],"against":[96],"state-of-the-art":[98],"Soft":[99],"Actor-Critic":[100],"(SAC)":[101],"algorithm":[102],"agent.":[103],"Both":[104],"are":[106],"further":[107],"validated":[108,196],"in":[109,164,201,206],"vitro":[110,207],"using":[111],"phantoms":[114],"under":[115],"fluoroscopic":[116],"guidance.":[117],"simulation,":[119],"demonstrates":[121],"significantly":[123],"higher":[124],"mean":[125,137],"success":[126,154],"rate":[127],"than":[128],"SAC":[129,162],"(58%":[130],"vs.":[131],"36%,":[132],"p":[133],"<":[134,183],"0.001),":[135],"tip":[138],"contact":[139],"forces":[140],"0.15":[142],"N,":[143],"well":[144],"below":[145],"proposed":[147],"1.5":[148],"N":[149],"vessel":[150],"rupture":[151],"threshold.":[152],"Mean":[153],"rates":[155],"(68%)":[158],"were":[159],"comparable":[160],"(60%)":[163],"vitro,":[165],"but":[166],"achieved":[168],"superior":[169],"path":[170],"ratios":[171],"(p":[172,182],"=":[173],"0.017)":[174],"at":[175],"cost":[177],"longer":[179],"procedure":[180],"times":[181],"0.001).":[184],"Together,":[185],"these":[186],"results":[187],"provide":[188],"first":[190],"demonstration":[191],"MT":[194],"both":[198],"silico":[202],"data":[203],"fluoroscopy-guided":[205],"experiments,":[208],"highlighting":[209],"promise":[211],"world":[213],"models":[214],"safe":[216],"generalizable":[218],"AI-assisted":[219],"interventions.":[221]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-04-24T00:00:00"}