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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.
Annals of Biomedical Engineering
|July 28, 2026
Summary
A new robotic system enables autonomous guidewire navigation for endovascular therapy, improving safety and accessibility. This technology reduces reliance on skilled operators and specialized imaging, making procedures faster and more adaptable.
Area of Science:
- Biomedical Engineering
- Medical Robotics
- Interventional Cardiology
Background:
- Endovascular therapy offers advantages over open surgery but relies on fluoroscopy, posing risks like radiation exposure.
- Current guidewire manipulation demands high operator skill and specialized equipment, limiting accessibility.
Purpose of the Study:
- To develop and evaluate a lightweight, portable robotic system for autonomous guidewire navigation.
- Enhance safety, accessibility, and operator independence in endovascular procedures.
Main Methods:
- A 400g robotic device with millimeter-scale accuracy, haptic feedback, and automated control was designed.
- Impedance control and servo current sensing were used to classify lesion stiffness and adapt force.
- Bench experiments simulated various stenosis levels to test the autonomous control strategy.
Main Results:
- The system accurately classified lesion stiffness (F-scores 0.77-0.95) and adapted force modulation.
- Retraction frequency correlated with stenosis severity, validating the autonomous control.
- The robotic system demonstrated reliable discrimination and adaptive force control.
Conclusions:
- The developed system provides autonomous, adaptive guidewire advancement with high accuracy.
- Its portable design reduces dependence on manual operation and imaging infrastructure.
- This technology promotes safer, faster, and more accessible endovascular interventions, especially in resource-limited settings.
