Paper Accepted in RA-L!
Excited to share our collaborative research with Ron Alterovitz and Ajit Puri has been accepted for publication in the IEEE Robotics and Automation Letters (RA-L) journal!
Title: Contact-aware Path Planning for Autonomous Neuroendovascular Navigation
Authors: Aabha Tamhankar, Ron Alterovitz, Ajit S. Puri, Giovanni Pittiglio
Link: https://arxiv.org/abs/2502.15971
We propose a deterministic, contact-aware path planner for neurovascular navigation that leverages kinematic model to predict and exploit anatomical interactions for fast and accurate control of pre-bent passive tools.
Attached is a video demonstrating results of our planner using a guidewire-catheter system to autonomously navigate into three common aortic arch types, targeting two different branches in each scenario.