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MicroHookACT: Monocular Microscopic Vision Guided Visuomotor Policy for Flexible Microelectrode Hooking

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Automated needle-loop hooking is a critical step in flexible microelectrode (FME) implantation. This paper presents MicroHookACT, an imitation learning-based visuomotor policy for automated 3D hooking under monocular microscopic vision. First, a unidirectional hooking strategy exploits defocus cues and optical-axis guidance to enable palpation-free precise alignment and contact-rich threading. Second, an action-supervised object attention module built on a frozen ViT backbone learns to focus on the micro-needle tip and micro-loop directly from human demonstrations, without requiring manual vis

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