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Related Experiment Video

Updated: Jan 14, 2026

A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique

A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique

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A linear stepping endovascular intervention robot with variable stiffness and force sensing.

Chengbin He¹, Shuxin Wang¹, Siyang Zuo²

¹Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, 300072, China.

International Journal of Computer Assisted Radiology and Surgery

|March 10, 2018

Summary

This summary is machine-generated.

This study introduces a novel robotic-assisted catheter system with a variable stiffness mechanism and Fiber Bragg Grating (FBG) force sensing for improved endovascular interventions. The system enables stable catheter navigation and accurate force monitoring during procedures.

Keywords:

Endovascular intervention Force sensing Linear stepping actuation Medical robot Variable stiffness

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Area of Science:

Medical Robotics
Biomedical Engineering
Interventional Cardiology

Background:

Robotic-assisted endovascular intervention is gaining traction.
Existing catheter designs often lack variable stiffness and precise force sensing.
Stable insertion requires a catheter that can transition from flexible to rigid states.

Purpose of the Study:

To develop a robotic-assisted catheter system with a variable stiffness mechanism.
To integrate a force sensing capability for enhanced procedural control.
To mimic conventional catheter navigation for experienced clinicians.

Main Methods:

A linear stepping mechanism for catheter actuation.
A shape-memory polymer tube with water cooling for variable stiffness.
Fiber Bragg Grating (FBG) sensors for tip contact force monitoring with temperature compensation.

Main Results:

The system demonstrated linear and rotational motion capabilities.
FBG sensors effectively compensated for temperature effects and detected tip forces.
The catheter achieved significant stiffness increase, holding its shape under load.
Validation in a vascular phantom confirmed clinical potential.

Conclusions:

The developed system offers a compact robotic-assisted catheter solution.
It incorporates an effective variable stiffness mechanism.
Real-time force sensing is crucial for intraoperative endovascular interventions.