Pose State Perception of Interventional Robot for Cardio-cerebrovascular Procedures

-- In response to the increasing demand for cardio-cerebrovascular interventional surgeries, precise control of in-terventional robots has become increasingly important. Within these complex vascular scenarios, the accurate and reliable perception of the pose state for interventional robots is particularly crucial. This paper presents a novel vision-based approach without the need of additional sensors or markers. The core of this paper's method consists of a three-part framework: firstly, a dual-head multitask U-Net model for simultaneous vessel segment and interventional robot detection; secondly, an advanced algorithm for skeleton extraction and optimization; and finally, a comprehensive pose state perception system based on geometric features is implemented to accurately identify the robot's pose state and provide strategies for subsequent control. The experimental results demonstrate the proposed method's high reliability and accuracy in trajectory tracking and pose state perception. I. INTRODUCTION The cardiovascular system plays a vital role in supplying oxygenated blood and essential nutrients to the heart and brain.