AI-Driven Robotic PCI: A Perception-to-Action Framework for Coronary Guidewire Control

Zijing Liu, Huanming Xu, Zhendong Liu, Jun Ma, J I N Liu, Pengfei Bi, Liming Huo, Xiaofeng Su, Bo Yu, J B Hou, Li Y, Lei Wang, Fucang Jia, Shoujun Zhou, Jing Yang, Guangyao Zhai

Robotic percutaneous coronary intervention (PCI) remains predominantly teleoperated, while the most demanding part of the procedure, guidewire navigation through a moving coronary tree under fluoroscopy, still depends on the continuous human interpretation of vessel anatomy, cardiac phase, guidewire position, and target location. We present a preclinical perception-to-action framework for AI-driven robotic PCI that integrates fluoroscopic perception, dynamic coronary vessel memory, vessel-coordinate state estimation, and robot-executable guidewire command generation on a robotic PCI platform. During contrast angiography, phase-indexed vessel–catheter templates and a dynamic vessel-coordinate coronary map are generated. During guidewire manipulation without contrast injection, live fluoroscopy is segmented into catheter and guidewire structures, cardiac phase is estimated by overlap between the live catheter–guidewire skeleton and stored vessel–catheter templates, the guidewire is assigned to the most likely vessel branch, and the distal tip is projected to a vessel-coordinate target representation for robotic action generation. The segmentation dataset contained 6269/1567/957 vessel images, 3857/964/537 guidewire images, and 4796/1199/667 catheter images for training/validation/test splits, respectively. Test-set Dice scores were 90.7% for vessels, 92.6% for catheters, and 89.0% for guidewires. In 623 real-time fluoroscopy frames from physician-supervised animal experiments, phase selection accuracy was 589/623 (94.6%; 95% CI, 92.5–96.1%) and vessel assignment accuracy was 575/623 (92.3%; 95% CI, 89.9–94.1%). Across 34 scenario-level episodes and their associated command-level decisions, correct-command rates ranged from 83.6% to 95.6% across target navigation and safety scenarios. These results provide preclinical evidence that live fluoroscopic perception can be converted into robot-executable coronary guidewire actions within an integrated AI-robotic PCI workflow. The study was designed to establish early system feasibility rather than to prove clinical superiority, large-scale generalization, or comparative advantages over manual or teleoperated robotic PCI.