Endovascular Surgical Robot Platform (stEVE)

A complete research platform for AI-assisted endovascular intervention, spanning preoperative 3D planning through intraoperative RL-guided navigation.

Pipeline:

1. CTA → STL — TotalSegmentator vessel segmentation, VMTK centerline extraction
2. SOFA FEM Simulation — Cosserat beam guidewire model, realistic vascular deformation
3. RL Navigation — SAC/PPO agents with geodesic distance reward + safety constraints
4. Biplane DSA — DLT triangulation + Beer-Lambert X-ray projection for 2D-3D registration
5. Intraoperative Correction — SE(3) IRC-RL with real DSA feedback

Ongoing research: Training a diffusion-based trajectory planner on large-scale SOFA-generated synthetic data, transferring to real vascular geometries — targeting to overcome clinical data scarcity.

Affiliations: Tongji University × PKU DLIB | 2026

System Architecture

Clinical Navigation Demo