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Empirical results demonstrate that the proposed algorithm has a strong competitiveness power in terms of both the performance and the algorithm compactness, and it can well deal with different types of problems with irregular PF and problems with different numbers of objectives. Two-dimensional fluoroscopy is the standard guidance imaging method for closed endovascular intervention. However, two-dimensional fluoroscopy lacks depth perception for the intervention catheter and causes radiation exposure for both surgeons and patients. In th
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