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Published on: April 21, 2013
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Portable and Versatile Catheter Robot for Image-Guided Cardiovascular Interventions.
Nikhil Tej Kantu1, Weibo Gao1, Nitin Srinivasan1
1Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695 USA.
IEEE/ASME Transactions on Mechatronics : a Joint Publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division
|November 21, 2025
Summary
A new portable catheter robot reduces radiation exposure for clinicians during cardiovascular procedures. This versatile robotic system enhances safety and applicability for various endovascular interventions.
Area of Science:
- Medical Robotics
- Cardiovascular Interventions
- Biomedical Engineering
Background:
- Cardiovascular disease is a leading global cause of death, driving the need for advanced endovascular tools.
- Current procedures using guide catheters and guidewires involve significant X-ray exposure for clinicians.
- Existing robotic catheter systems are often bulky, require specialized facilities, and have limited instrument compatibility.
Purpose of the Study:
- To design, fabricate, and validate a portable and versatile catheter robot for cardiovascular interventions.
- To address the limitations of current robotic systems, including size, compatibility, and facility requirements.
- To enhance clinician safety by reducing radiation exposure during endovascular procedures.
Main Methods:
- Developed a 4 degree-of-freedom catheter robot with a compact, modular design.
- Integrated direct drive motors and advanced mechatronics for precise control.
- Analytically modeled the drive mechanism and experimentally evaluated tracking, force, and torque performance.
- Tested the robot's ability to manipulate commercial cardiovascular instruments (1-9 F diameter).
Main Results:
- The portable robot is approximately 90% smaller than current state-of-the-art systems.
- Experimental validation confirmed clinically relevant actuation of guidewires and guide catheters.
- The system demonstrated safe operation within force and torque limits, preventing vascular tissue damage.
- Successful simulation of percutaneous coronary intervention on a 3-D heart model.
Conclusions:
- The developed portable catheter robot offers a versatile and compact solution for endovascular procedures.
- The system effectively manipulates cardiovascular instruments, reducing clinician radiation exposure.
- Its portability and compatibility enhance applicability across a wide range of cardiovascular interventions.
- This technology holds significant clinical potential for improving patient outcomes and procedural efficiency.
