{"doi":"10.1109/lra.2022.3207568","title":"Fluoroscopic Image-Based 3-D Environment Reconstruction and Automated Path Planning for a Robotically Steerable Guidewire","abstract":"Cardiovascular diseases are the leading cause of death globally and surgical treatments for these often begin with the manual placement of a long compliant wire, called a guidewire, through different vasculature. To improve procedure outcomes and reduce radiation exposure, we propose steps towards a fully automated approach for steerable guidewire navigation within vessels. In this letter, we utilize fluoroscopic images to fully reconstruct 3-D printed phantom vasculature models by using a shape-from-silhouette algorithm. The reconstruction is subsequently de-noised using a deep learning-based encoder-decoder network and morphological filtering. This volume is used to model the environment for guidewire traversal. Following this, we present a novel method to plan an optimal path for guidewire traversal in three-dimensional vascular models through the use of slice planes and a modified hybrid A-star algorithm. Finally, the developed reconstruction and planning approaches are applied to an <italic xmlns:mml=\"http://www.w3.org/1998/Math/MathML\" xmlns:xlink=\"http://www.w3.org/1999/xlink\">ex vivo</i> porcine aorta, and navigation is demonstrated through the use of a tendon-actuated <underline xmlns:mml=\"http://www.w3.org/1998/Math/MathML\" xmlns:xlink=\"http://www.w3.org/1999/xlink\">CO</u> axially <underline xmlns:mml=\"http://www.w3.org/1998/Math/MathML\" xmlns:xlink=\"http://www.w3.org/1999/xlink\">A</u> ligned <underline xmlns:mml=\"http://www.w3.org/1998/Math/MathML\" xmlns:xlink=\"http://www.w3.org/1999/xlink\">ST</u> eerable guidewire (COAST).","journal":"IEEE Robotics and Automation Letters","year":2022,"id":269786,"datarank":0.0,"base_score":0.0,"endowment":0.0,"self_citation_contribution":0.0,"citation_network_contribution":0.0,"self_endowment_contribution":0.0,"citer_contribution":0.0,"corpus_percentile":null,"corpus_rank":null,"citation_count":15,"citer_count":0,"citers_with_citation_signal":0,"citers_with_endowment":0,"datacite_reuse_total":0,"is_dataset":false,"is_dataset_confidence":0.9588,"is_data_producer":false,"deposit_databanks":null,"is_oa":true,"file_count":0,"downloads":0,"has_version_chain":false,"published_date":"2022-01-01","fair_score":null,"fair_percentile":null,"algorithm_id":"datarank_citation_only_1hop_v6","ranking_scope":"data_only","authors":[{"id":805606,"name":"Timothy A. Brumfiel","orcid":"0000-0002-7623-9849","position":1,"is_corresponding":false},{"id":374253,"name":"Achraj Sarma","orcid":"0000-0002-0476-4644","position":2,"is_corresponding":false},{"id":311569,"name":"Jaydev P. Desai","orcid":"0000-0001-8298-2439","position":3,"is_corresponding":false},{"id":805605,"name":"Sharan R. Ravigopal","orcid":"0000-0002-7713-2082","position":0,"is_corresponding":true}],"reference_count":41,"raw_metadata":null,"created_at":"2026-07-19T00:27:22.602796Z","pmid":"36275193","pmcid":null,"fwci":null,"citation_percentile":null,"influential_citations":0,"oa_status":null,"license":null,"views":0,"total_file_size_bytes":0,"version_count":0,"fair_f":null,"fair_a":null,"fair_i":null,"fair_r":null,"fair_zscore":null,"fair_rationale":null,"fair_model":null,"fair_agent_version":null,"fair_fulltext_source":null,"fair_has_llm":null,"fair_computed_at":null,"clinical_trials":[],"software_tools":[],"db_accessions":[],"linked_datasets":[],"topics":[]}