FLUOROSCOPIC IMAGE GUIDED ROBOTIC BLOOD VESSEL CANNULATION

Various embodiments of a vessel cannulation system employs an interventional robot (110) and a vessel cannulation controller (80) for a blood vessel cannulation of a target blood vessel by an endovascular instrument (10) navigational within a transitory blood vessel having the target blood vessel branching therefrom. In operation, the vessel cannulation controller (80) (i) defines, within an image space, a virtual wall of the transitory blood vessel having a virtual entryway into the target blood vessel, (ii) commands the interventional robot (110) to execute a positional wall sampling of the transitory blood vessel by the distal section of the endovascular instrument (10), and (iii) detects the blood vessel cannulation of the target blood vessel by the distal section of the endovascular instrument (10) through the virtual entryway of the virtual wall during the positional wall sampling of the transitory blood vessel by the distal section of the endovascular instrument (10).