无需造影剂，用单平面透视实现微型机器人自主导航。
Contrast-Free Autonomous Navigation of Untethered Endovascular Microrobots Using Single-Plane Fluoroscopy
- 构建血管三维数字孪生，通过2D影像推断3D位置与方向。
- 导航时间减少62%，纠错指令降低98%，辐射暴露减少57%。
- 适合需降低造影剂和辐射的血管介入手术场景。
磁控无缆微机器人在血管内三维（3D）导航的可靠性仍是临床转化的主要障碍。尽管X射线荧光透视是血管内操作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，丢失深度信息，使自主导航复杂化。通过双平面成像或重复造影增强血管造影恢复深度信息会增加手术复杂性、辐射暴露或造影剂负担。本文提出VISTA（虚拟集成用于空间追踪与自主控制）框架，实现无需造影剂的单平面荧光透视下自主导航。VISTA将血管解剖结构重建为3D数字孪生，将血管中心线离散化为导航里程碑，并将检测到的2D机器人位置映射至最近的投影里程碑。连续里程碑定义局部血管方向，用于生成磁力驱动指令，将单平面荧光观测转化为拓扑约束的导航状态，无需导航过程中的造影剂注射。VISTA在具有不同解剖结构的血管模型中持续流动条件下及活体大鼠下腔静脉内进行了验证。相比传统荧光透视人工控制，VISTA将导航时间缩短达62%，纠正性驱动指令减少98%，辐射暴露降低57%。这些结果确立了VISTA作为基于数字孪生的无造影剂自主导航框架，适用于广泛可得的单平面荧光透视。
原文摘要 · Abstract (English)
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.
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