A Novel Vascular Robotic System: Performance Evaluation.

Percutaneous coronary intervention (PCI) has become a common method for the treatment of cardiovascular diseases (CVDs). However, the accumulated X-ray radiation during the procedures greatly increases the probability of medical staff suffering from cataracts and brain tumors. This study bases on an existing vascular robotic system designed in our previous work. The main component of this robotic system is a bio-inspired Dual-finger Robotic Hand (DRH), which consists of a pair of bionic thumb and forefinger to imitate the surgical manipulations of interventionalists. This study is to evaluate the performance of the robotic system through a series of experiments: advancing a guidewire at different speeds and accelerations. The mean root mean square error (RMSe) of the actual and desired axial movements is 0.72 ± 0.49 mm, demonstrating the effectiveness and robustness of the robotic system.