南京信息工程大学学报2026，Vol.18Issue(1)：18-25,8.DOI:10.13878/j.cnki.jnuist.20250131001
基于扩散策略的血管介入手术导丝控制研究
Guidewire control in endovascular surgeries based on diffusion policy
摘要
Abstract
To address the challenges of labor-intensive guidewire manipulation and limited automation in current robotic systems for endovascular surgeries,this paper proposes an autonomous guidewire control algorithm based on diffusion policy.This approach aims to enhance the success rate and stability of surgical robots in performing such underactuated control tasks.First,we model the guidewire control task as a Markov Decision Process(MDP),and employ imitation learning to train the robotic system using expert demonstration data,enabling efficient operation across various vascular environments.The expert control strategy is subsequently modeled as a conditional probabili-ty distribution using a denoising diffusion probabilistic model,which generates control actions based on observed states.Simulation tests for interventions in both left subclavian artery and brachiocephalic trunk were conducted in an aortic arch environment,with a comparative analysis against existing imitation learning methods.Experimental re-sults demonstrate that the proposed method achieves significant performance improvements in both tasks,exhibits low sensitivity to hyperparameter settings,and maintains superior training stability.关键词
血管介入/机器人辅助手术/模仿学习/扩散策略Key words
endovascular intervention/robot-assisted surgery/imitation learning/diffusion policy(DP)分类
信息技术与安全科学引用本文复制引用
骆雨晟,朱利丰,宋爱国..基于扩散策略的血管介入手术导丝控制研究[J].南京信息工程大学学报,2026,18(1):18-25,8.基金项目
国家自然科学基金重点项目(92148205) （92148205）
