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Hybrid control algorithm for precision motion in robot-assisted cardiac catheterization.

Naman Gupta1,2, Ranjan Jha1,2

  • 1Council of Scientific and Industrial Research (CSIR)-Central Scientific Instruments Organisation, Chandigarh, India.

Proceedings of the Institution of Mechanical Engineers. Part H, Journal of Engineering in Medicine
|October 21, 2025
PubMed
Summary

This study introduces a hybrid control algorithm for robotic-assisted cardiac catheterization, significantly improving motion accuracy and stability. The Feed-Forward PID controller ensures precise catheter navigation, enhancing cardiovascular interventions.

Keywords:
control algorithmmaster-slave robotic systemrobot-assisted cardiac catheterizationrobotic assisted surgeryspeed and angle of catheter motion

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Area of Science:

  • Cardiovascular Interventions
  • Robotics in Medicine
  • Control Systems Engineering

Background:

  • Cardiovascular diseases are a major global health concern.
  • Robotic-assisted cardiac catheterization offers precision but requires advanced control.
  • Existing systems face challenges in motion accuracy and stability.

Purpose of the Study:

  • To develop and validate a hybrid control algorithm for enhanced robotic-assisted cardiac catheterization.
  • To improve catheter manipulation accuracy, stability, and responsiveness.
  • To reduce tracking errors in real-time cardiovascular interventions.

Main Methods:

  • Implementation of a hybrid control algorithm, specifically a Feed-Forward PID (FFPID) controller.
  • Integration of high-precision mechanical systems (roller-based, gear-driven, belt-pulley) for catheter manipulation.
  • Utilizing spring-loaded force dynamics for torque estimation and experimental validation.

Main Results:

  • The FFPID controller demonstrated superior motion accuracy, optimizing overshoot and settling times.
  • Achieved precise translational motion (approx. 1 mm/s) and rotational movement (0.9°/pulse).
  • Experimental validation showed minimal displacement error (RMSE < 0.017 mm, R² = 0.999) and angular precision (RMSE < 0.11°, overshoot < 1%).

Conclusions:

  • The FFPID controller is effective for real-time catheter control in robotic-assisted cardiac procedures.
  • Hybrid control strategies enhance precision, stability, and efficiency in cardiovascular interventions.
  • This research paves the way for more intelligent and autonomous cardiovascular surgical systems.