DINO-CVA: A Multimodal Goal-Conditioned Vision-to-Action Model for Autonomous Catheter Navigation
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arXiv
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| Main Authors: | , , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866911220454391808 |
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| author | Fekri, Pedram Roshanfar, Majid Barbeau, Samuel Famouri, Seyedfarzad Looi, Thomas Podolsky, Dale Zadeh, Mehrdad Dargahi, Javad |
| author_facet | Fekri, Pedram Roshanfar, Majid Barbeau, Samuel Famouri, Seyedfarzad Looi, Thomas Podolsky, Dale Zadeh, Mehrdad Dargahi, Javad |
| contents | Cardiac catheterization remains a cornerstone of minimally invasive interventions, yet it continues to rely heavily on manual operation. Despite advances in robotic platforms, existing systems are predominantly follow-leader in nature, requiring continuous physician input and lacking intelligent autonomy. This dependency contributes to operator fatigue, more radiation exposure, and variability in procedural outcomes. This work moves towards autonomous catheter navigation by introducing DINO-CVA, a multimodal goal-conditioned behavior cloning framework. The proposed model fuses visual observations and joystick kinematics into a joint embedding space, enabling policies that are both vision-aware and kinematic-aware. Actions are predicted autoregressively from expert demonstrations, with goal conditioning guiding navigation toward specified destinations. A robotic experimental setup with a synthetic vascular phantom was designed to collect multimodal datasets and evaluate performance. Results show that DINO-CVA achieves high accuracy in predicting actions, matching the performance of a kinematics-only baseline while additionally grounding predictions in the anatomical environment. These findings establish the feasibility of multimodal, goal-conditioned architectures for catheter navigation, representing an important step toward reducing operator dependency and improving the reliability of catheterbased therapies. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_17038 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | DINO-CVA: A Multimodal Goal-Conditioned Vision-to-Action Model for Autonomous Catheter Navigation Fekri, Pedram Roshanfar, Majid Barbeau, Samuel Famouri, Seyedfarzad Looi, Thomas Podolsky, Dale Zadeh, Mehrdad Dargahi, Javad Robotics Artificial Intelligence Computer Vision and Pattern Recognition Cardiac catheterization remains a cornerstone of minimally invasive interventions, yet it continues to rely heavily on manual operation. Despite advances in robotic platforms, existing systems are predominantly follow-leader in nature, requiring continuous physician input and lacking intelligent autonomy. This dependency contributes to operator fatigue, more radiation exposure, and variability in procedural outcomes. This work moves towards autonomous catheter navigation by introducing DINO-CVA, a multimodal goal-conditioned behavior cloning framework. The proposed model fuses visual observations and joystick kinematics into a joint embedding space, enabling policies that are both vision-aware and kinematic-aware. Actions are predicted autoregressively from expert demonstrations, with goal conditioning guiding navigation toward specified destinations. A robotic experimental setup with a synthetic vascular phantom was designed to collect multimodal datasets and evaluate performance. Results show that DINO-CVA achieves high accuracy in predicting actions, matching the performance of a kinematics-only baseline while additionally grounding predictions in the anatomical environment. These findings establish the feasibility of multimodal, goal-conditioned architectures for catheter navigation, representing an important step toward reducing operator dependency and improving the reliability of catheterbased therapies. |
| title | DINO-CVA: A Multimodal Goal-Conditioned Vision-to-Action Model for Autonomous Catheter Navigation |
| topic | Robotics Artificial Intelligence Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2510.17038 |