A novel robotic system for vascular intervention: principles, performances, and applications

  • Hao Shen
  • Cheng Wang
  • Le XieEmail author
  • Shoujun ZhouEmail author
  • Lixu Gu
  • Hongzhi Xie
Original Article



This paper describes the design, principles, performances, and applications of a novel image-guided master–slave robotic system for vascular intervention (VI), including the performance evaluation and in vivo trials.


Based on the peer-to-peer (P2P) remote communication system, the kinetics analysis, the sliding-mode neural network self-adaptive control model and the feedback system, this new robotic system can accomplish in real time a number of VI operations, including guidewire translation and rotation, balloon catheter translation, and contrast agent injection. The master–slave design prevents surgeons from being exposed to X-ray radiation, which means that they are not required to wear a heavy lead suit. We also conducted a performance evaluation of the new system, which assessed the speed, position tracking, and accuracy, as well as in vivo swine trials.


The speed and position tracking effects are really good, which contribute to the high level of performance in terms of the translational (error ≤ 0.45%) and rotational (error ≤ 2.6°) accuracy. In addition, the accuracy of the contrast agent injection is less than 0.2 ml. The robotic system successfully performed both the stent revascularization of an arteria carotis and four in vivo trials. The haptic feedback data correspond with the robotic-assisted procedure, and peaks and troughs of data occur regularly.


By means of the performance evaluation and four successful in vivo trials, the feasibility and efficiency of the new robotic system are validated, which should prove helpful for further research.


VI robotic system Kinetics Sliding-mode neural network Haptic feedback Performance evaluation In vivo swine trial 



This work was supported by High Technology Research and Development Program of China (863 Program, No. 2015AA043203), Natural Science Foundation of China (Nos. 61672341, 61471349), The project of Science and Technology Commission of Shanghai municipality (No. 17441903800), The project of major program of National Natural Science Foundation of China (Nos. 61190124, 61190120), Basic Discipline Layout Project of Shenzhen City (No. JCYJ20150731154850923).

Compliance with ethical standards

Conflict of interest

All the authors declare they have no conflict of interest.

Ethical approval

The authors declare that all human and animal studies have been approved and performed in accordance with ethical standards.

Informed consent

Informed consent was obtained from all individual participants included in the study.


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Copyright information

© CARS 2019

Authors and Affiliations

  1. 1.Institute of Forming Technology and EquipmentShanghai Jiao Tong UniversityXuhui DistrictChina
  2. 2.Shenzhen Institutes of Advanced TechnologyChinese Academy of SciencesBeijingChina
  3. 3.School of Biomedical EngineeringShanghai Jiao Tong UniversityXuhuiChina
  4. 4.Peking Union Medical College HospitalBeijingChina

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