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MCP-Net: Real-Time Coronary Perception Network and Topological Analysis for Robotic Guidewire Navigation

Sahar Nasirihaghighi, Tianyuan Wang, Kenan Niu, Stefano Stramigioli

Abstract

Coronary guidewire navigation during percutaneous coronary intervention requires continuous interpretation of vessel anatomy, guidewire position, and target stenosis under two-dimensional X-ray fluoroscopy. While existing approaches commonly address vessel segmentation or device localization as separate tasks, a robotic system requires a more structured perception of the coronary scene to support downstream navigation. In this work, we present a simulation-driven framework centered on a Multi-Task Coronary Perception Network (MCP-Net) for robotic guidewire navigation, integrating coronary vessel segmentation, vascular topology extraction, and roadmap generation. Starting from three-dimensional coronary CT angiography, we generate simulated fluoroscopy images containing vascular structures, simulated guidewires, stenotic lesions with varying severity, and diverse vascular geometries, together with simulation-derived ground truth. MCP-Net jointly performs coronary vessel segmentation, guidewire-tip localization, and stenosis localization from a single fluoroscopic frame. These predictions are subsequently converted into a structured vascular graph containing centerlines, bifurcations, endpoints, branch directions, and branch angles. By associating the predicted stenosis with this graph, the framework generates a roadmap from the automatically selected graph root toward the target lesion. The results demonstrate that the proposed framework can jointly recover coronary perception targets and transform them into an interpretable vascular representation suitable for downstream robotic navigation.

Filed undermcp

Third-party community-based bots are central to how social platforms such as Discord work. They moderate content, manage roles, play music, and support AI-assisted conversations across millions of servers. Yet when a bot is installed in a server, it can access messages, user profiles, and server metadata concerning members who did not participate in the installation decision, with no standardized way to communicate the associated security and privacy implications. In this paper, we analyze 23,102 third-party Discord bots and 183,142 user reviews spanning 49 detected languages and five years of feedback (2021-2026). We employ LLM-based knowledge distillation and fine-tune a DeBERTa-based classifier to identify candidate security and privacy (S&P)-relevant reviews. After manually validating the complete classifier-positive set, we retain 8,832 reviews identified as S&P-relevant, representing an observed pipeline yield of 4.82%, and map them to a 31-theme S&P taxonomy extending prior work. Our results show that S&P-related reviews focus heavily on Data Sharing (30.5%) and Data Collection (16.2%). Confession and anonymity bots have pipeline-identified SPRRs above 50%, more than ten times the ecosystem-wide pipeline yield of 4.82%. Star ratings may obscure the frequency and valence of S&P-related discussion, while conventional metadata features, such as permission count and administrator status, show only weak associations with user-reported S&P concerns. We then build BotLens, a proof-of-concept auditing framework that combines review-derived S&P signals with bot metadata to provide on-demand decision support for the community-based bot ecosystem. BotLens exposes six tools through a Model Context Protocol server, supporting bot-level checkups, server-wide comparison, and integration with AI agents.

Kofi Ampomah, Tu Le

In recent years, multi-agent systems have shifted from rule-based, symbolic agents to sub-symbolic agents built on language models. However, several limitations remain unresolved. The new frontier is neuro-symbolic agents, which pair language models with deterministic tools and explicit protocols. Without a common framework to standardize and compose them, each study rebuilds the same infrastructure, and results are hard to replicate. This paper presents EREBOTS 4.0, an open-source, hybrid-AI, multi-agent framework that fills this gap for conversational assistants. Language-model agents plan and route requests, while deterministic tools compute exact results over the Model Context Protocol (MCP). An orchestrator selects one or more specialist agents per turn and calls them over the Agent2Agent protocol (A2A). A new agent, local or remote, is added by listing its URL in a configuration file. The framework also manages identity, user context with consent flags, task states and traces. Its A2A server passed 97 tracked requirements in the official A2A Technology Compatibility Kit, with no failures.

Elia Pacioni, Davide Calvaresi +5

LLM agents increasingly access external tools through the Model Context Protocol (MCP), but the natural-language metadata used to describe those tools creates a prompt-injection surface. Within this established tool-poisoning surface, we study Log-To-Leak, an additive post-hoc logging attack that induces a separate attacker-controlled call after the final legitimate call. Its payload targets the user query, MCP server name, server response, and agent response. We operationalize the injected directive through Trigger, Tool Binding, Justification, and Pressure, and separately measure call success, payload fidelity, and preservation of legitimate behavior. We evaluate five MCP servers and four LLM agents using five metrics spanning effectiveness, utility, and efficiency. Across 18 model-server pairs with valid tool execution, Log-To-Leak achieves an attack success rate (ASR) of 62.64-100% and conditional logging accuracy (LA) of 76.55-95.64%; 16 pairs have absolute target-task completion changes of at most 6.63 percentage points. Three evaluated defenses leave residual ASR above 55% on GitHub MCP with GPT-4o, while an instruction detector flags 85.53% of benign descriptions. These results show that successful task completion can coexist with unauthorized post-hoc disclosure and motivate host-controlled authorization for secondary tool calls.

Yuepeng Hu, Chongyu Fan +2