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Related Experiment Video

Updated: Feb 13, 2026

Adaptation of a Haptic Robot in a 3T fMRI
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HAPTIC PORTABLE ROBOTIC DEVICE FOR AUTOMATED GUIDEWIRE OR CATHETER NAVIGATION IN ENDOVASCULAR PROCEDURES.

Vahid Mohammadi1, Jason MacTaggart2, Majid Jadidi1

  • 1Department of Biomechanics, University of Nebraska Omaha, Omaha, NE, USA.

Medrxiv : the Preprint Server for Health Sciences
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PubMed
Summary

A new robotic system enables autonomous guidewire navigation for endovascular therapy, improving safety and accessibility. This lightweight device adapts to lesion stiffness, reducing reliance on operator skill and specialized equipment.

Keywords:
EndovascularGuidewire navigationHaptic RobotPortable medical deviceRobotic Medical device

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Area of Science:

  • Biomedical Engineering
  • Medical Robotics
  • Interventional Cardiology

Background:

  • Endovascular therapy offers advantages over open surgery but is limited by radiation exposure and high costs.
  • Current fluoroscopy-guided procedures require specialized skills and equipment, impacting accessibility.

Purpose of the Study:

  • To develop and evaluate a lightweight, portable robotic system for autonomous guidewire navigation.
  • To enhance safety, accessibility, and operator independence in endovascular procedures.

Main Methods:

  • A 400g robotic device with millimeter-scale accuracy and impedance control was designed.
  • The system uses servo current feedback to classify lesion stiffness and adapt guidewire advancement.
  • Bench experiments simulated varying degrees of vascular stenosis.

Main Results:

  • Autonomous control strategy validated by increased retraction frequency with stenosis severity.
  • High F-scores (0.83-0.95) achieved for lesion stiffness classification.
  • Reliable discrimination and adaptive force modulation demonstrated.

Conclusions:

  • The robotic system enables accurate, adaptive, and autonomous guidewire advancement.
  • Its portable design reduces dependence on manual operation and specialized imaging.
  • This technology promotes safer, faster, and more accessible endovascular interventions, even in resource-limited settings.