Jiaqi Ge

Tianliang Yao, Bo Lu, Markus Kowarschik et al.

Endovascular procedures have revolutionized the treatment of vascular diseases thanks to minimally invasive solutions that significantly reduce patient recovery time and enhance clinical outcomes. However, the precision and dexterity required during these procedures poses considerable challenges for interventionists. Robotic systems have emerged offering transformative solutions, addressing issues such as operator fatigue, radiation exposure, and the inherent limitations of human precision. The integration of Embodied Intelligence (EI) into these systems signifies a paradigm shift, enabling robots to navigate complex vascular networks and adapt to dynamic physiological conditions. Data-driven approaches, advanced computer vision, medical image analysis, and machine learning techniques, are at the forefront of this evolution. These methods augment procedural intelligence by facilitating real-time vessel segmentation, device tracking, and anatomical landmark detection. Reinforcement learning and imitation learning further refine navigation strategies and replicate experts' techniques. This review systematically examines the integration of EI principles into robotic technologies, in relation to endovascular procedures. We discuss recent advancements in intelligent perception and data-driven control, and their practical applications in robot-assisted endovascular procedures. By critically evaluating current limitations and emerging opportunities, this review establishes a framework for future developments, emphasizing the potential for greater autonomy and improved clinical outcomes. Emerging trends and specific areas of research, such as federated learning for medical data sharing, explainable AI for clinical decision support, and advanced human-robot collaboration paradigms, are also explored, offering insights into the future direction of this rapidly evolving field.

Chenhao Xu, Jiaqi Ge, Yong Li et al.

Federated learning (FL) enables collaborative training of a shared model on edge devices while maintaining data privacy. FL is effective when dealing with independent and identically distributed (iid) datasets, but struggles with non-iid datasets. Various personalized approaches have been proposed, but such approaches fail to handle underlying shifts in data distribution, such as data distribution skew commonly observed in real-world scenarios (e.g., driver behavior in smart transportation systems changing across time and location). Additionally, trust concerns among unacquainted devices and security concerns with the centralized aggregator pose additional challenges. To address these challenges, this paper presents a dynamically optimized personal deep learning scheme based on blockchain and federated learning. Specifically, the innovative smart contract implemented in the blockchain allows distributed edge devices to reach a consensus on the optimal weights of personalized models. Experimental evaluations using multiple models and real-world datasets demonstrate that the proposed scheme achieves higher accuracy and faster convergence compared to traditional federated and personalized learning approaches.