[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"doc-detail-85358-en":3,"doc-seo-85358-105":30,"detail-sidebar-cat-0-en-105":91},{"code":4,"msg":5,"data":6},0,"success",{"doc_id":7,"user_id":8,"nickname":9,"user_avatar":10,"doc_module":4,"category_id":11,"category_name":12,"doc_title":13,"doc_description":14,"doc_content":15,"file_id":16,"file_url":17,"file_type":18,"file_size":19,"view_count":20,"is_deleted":4,"is_public":21,"is_downloadable":21,"audit_status":21,"page_count":22,"language":23,"language_code":24,"site_id":25,"html_lang":24,"table_of_contents":26,"faqs":27,"seo_title":13,"seo_description":14,"update_tm":28,"read_time":29},85358,7971461741311,"Ophelia","https://ap-avatar.wpscdn.com/avatar/74000253aff267980c6?x-image-process=image/resize,m_fixed,w_180,h_180&k=1779345379180704826",8,"Research & Report","A Compact Top-Loading Robot for Endovascular Interventions Design Control and Evaluation","Robot-assisted endovascular intervention can lower radiation exposure, improve surgeon ergonomics, enable telesurgery, and support assistance and autonomy while increasing procedural precision. Existing platforms often limit coverage due to constrained patient-side setups, insufficient flexibility, and complex instrument exchange that disrupts clinical workflow. This study proposes a compact top-loading robotic system for continuous translational and rotational manipulation of standard endovascular tools, verified through motion-tracking and in vitro vascular phantom experiments.","arXiv :2607 . 11779v1 [ cs .RO] 13 Jul 2026  \nA Compact Top-Loading Robot for Endovascular  \nInterventions: Design, Control and Evaluation Jonas Fischer 1†, Lennart Karstensen 1†, Franziska Mathis-Ullrich 1*  \n1* Laboratory for Surgical Planning and Robot Cognition (SPARC) , Friedrich-Alexander-University Erlangen-Nürnberg, Nürnberger Straße  \n74, Erlangen, 91052, Bavaria, Germany.  \n*Corresponding author(s). E-mail(s): [franziska.mathis-ullrich@fau.de](franziska.mathis-ullrich@fau.de) ; Contributing authors: [jonas.f.fischer@fau.de](jonas.f.fischer@fau.de) ; [lennart@karstensen.biz](lennart@karstensen.biz) ;  \n†These authors contributed equally to this work.  \nAbstract  \nPurpose: Robot-assisted endovascular intervention has the potential to reduce radiation exposure, improve surgeon ergonomics, enable telesurgery, support active assistance and autonomy, and enhance procedural precision. However, existing systems often suffer from limited procedural coverage because constrained patient-side setups, restricted flexibility, and complex instrument exchange hinder clinical workflow integration. This work presents a compact robotic system for endovascular interventions that enables continuous translational and rotational manipulation of standard endovascular instruments.  \nMethods: The system consists of two alternating carts with pneumatically actuated membrane grippers integrated into rotating gripper gears. Its top-loading design allows rapid exchange of instruments such as guidewires and catheters without changing the robotic setup. A leader-follower control strategy enables continuous motion despite the finite stroke of each cart. The system was evaluated in motion-tracking experiments with guidewires and catheters and in an in vitro vascular phantom.  \nResults: The motion-tracking experiments showed predominantly smooth translational and rotational motion profiles. Across all tested guidewire and catheter experiments, the mean relative tracking errors were (3 .6 ± 2.2)% for translational motion and (4 .1 ± 1.6)% for rotational motion. In the vascular phantom, robot-assisted navigation reached the target in most trials, demonstrating the feasibility of the proposed manipulation concept under in vitro conditions. Conclusion: The presented robotic system demonstrates technical feasibility for continuous manipulation of standard endovascular instruments in bench-top and in vitro experiments. The compact top-loading design may facilitate instrument exchange and clinical workflow integration. Future work will focus on improving gripping performance, actuation speed, force feedback, and evaluation in more clinically realistic settings.  \nKeywords: Robot-assisted endovascular intervention, Endovascular robotics, Robotic catheterization, Surgical robotics  \n1  \n1 Introduction  \nMembrane Holder  Membrane ~~ ~~  \nGripper Gear   \n PTFE Bearing  \n Holder Gripper Gear  \nLinear Guide Rail  \nPneumatic Hose  \nThreaded Rod for Translation of Guidewire  \nGuidewire  \nMotor Drivers  \nPinion Shaft for Stepper Motors Rotation of Guidewire  \nFigure 1 CAD model of roboEVI with two carts, one in position and one in exploded view  \nCardiovascular and cerebrovascular diseases remain among the leading causes of morbidity and mortality worldwide, motivating continued development of safe and effective minimally invasive treatments [1, 2] . Endovascular interventions are a standard therapy for many vascular pathologies because they reduce surgical trauma, recovery time, and infection risk compared to open surgery [1, 3] . In these procedures, cathetersand guidewires are advanced through the vasculature to a target region for diagnostic or therapeutic steps such as angioplasty, stenting, embolization, or ablation [1] . Despite their clinical success, they remain demanding because operators must navigate thin, flexible instruments through delicate vessels while avoiding excessive contact forces that can cause injury or perforation [1] .  \nConventional endovas","cbCaihdSV9mI8Rll","https://ap.wps.com/l/cbCaihdSV9mI8Rll","pdf",1976304,3,1,17,"English","en",105,"# Abstract\n# Introduction\n## Background and clinical motivation\n## Radiation and workflow limitations\n## Existing robotic platforms and approaches\n## Remaining design challenges","[{\"question\":\"What problem does the proposed robot address in endovascular interventions?\",\"answer\":\"Conventional robotic systems can have limited procedural coverage due to constrained patient-side setups, restricted flexibility, and difficult instrument exchange that makes clinical workflow integration challenging.\"},{\"question\":\"How does the system manipulate endovascular instruments continuously?\",\"answer\":\"It uses two alternating pneumatically actuated gripper carts with membrane grippers integrated into rotating gripper gears, combined with a leader-follower control strategy to maintain continuous motion despite finite cart stroke.\"},{\"question\":\"What performance was reported in experiments and the in vitro vascular phantom?\",\"answer\":\"Motion-tracking tests showed predominantly smooth translational and rotational profiles, with mean relative tracking errors of (3.6 ± 2.2)% for translation and (4.1 ± 1.6)% for rotation; the vascular phantom trials reached the target in most cases, supporting feasibility under in vitro conditions.\"}]",1784202766,43,{"code":4,"msg":31,"data":32},"ok",{"site_id":25,"language":24,"slug":33,"title":13,"keywords":34,"description":14,"schema_data":35,"social_meta":86,"head_meta":88,"extra_data":90,"updated_unix":28},"a-compact-top-loading-robot-for-endovascular-interventions-design-control-and-evaluation","",{"@graph":36,"@context":85},[37,53,68],{"@type":38,"itemListElement":39},"BreadcrumbList",[40,44,48,50],{"item":41,"name":42,"@type":43,"position":21},"https://docshare.wps.com","Home","ListItem",{"item":45,"name":46,"@type":43,"position":47},"https://docshare.wps.com/document/","Document",2,{"item":49,"name":12,"@type":43,"position":20},"https://docshare.wps.com/document/research-report/",{"item":51,"name":13,"@type":43,"position":52},"https://docshare.wps.com/document/a-compact-top-loading-robot-for-endovascular-interventions-design-control-and-evaluation/85358/",4,{"url":51,"name":13,"@type":54,"author":55,"headline":13,"publisher":57,"fileFormat":60,"inLanguage":24,"description":14,"dateModified":61,"datePublished":62,"encodingFormat":60,"isAccessibleForFree":63,"interactionStatistic":64},"DigitalDocument",{"name":9,"@type":56},"Person",{"url":41,"name":58,"@type":59},"DocShare","Organization","application/pdf","2026-07-24","2026-07-16",true,{"@type":65,"interactionType":66,"userInteractionCount":20},"InteractionCounter",{"@type":67},"ViewAction",{"@type":69,"mainEntity":70},"FAQPage",[71,77,81],{"name":72,"@type":73,"acceptedAnswer":74},"What problem does the proposed robot address in endovascular interventions?","Question",{"text":75,"@type":76},"Conventional robotic systems can have limited procedural coverage due to constrained patient-side setups, restricted flexibility, and difficult instrument exchange that makes clinical workflow integration challenging.","Answer",{"name":78,"@type":73,"acceptedAnswer":79},"How does the system manipulate endovascular instruments continuously?",{"text":80,"@type":76},"It uses two alternating pneumatically actuated gripper carts with membrane grippers integrated into rotating gripper gears, combined with a leader-follower control strategy to maintain continuous motion despite finite cart stroke.",{"name":82,"@type":73,"acceptedAnswer":83},"What performance was reported in experiments and the in vitro vascular phantom?",{"text":84,"@type":76},"Motion-tracking tests showed predominantly smooth translational and rotational profiles, with mean relative tracking errors of (3.6 ± 2.2)% for translation and (4.1 ± 1.6)% for rotation; the vascular phantom trials reached the target in most cases, supporting feasibility under in vitro conditions.","https://schema.org",{"og:url":51,"og:type":87,"og:title":13,"og:site_name":58,"og:description":14},"article",{"robots":89,"canonical":51},"index,follow",{"doc_id":7,"site_id":25},{"code":4,"msg":5,"data":92},[93,97,101,105,110,115,120,123,128,131,135],{"id":21,"doc_module":4,"doc_module_name":46,"category_name":94,"show_sort_weight":95,"slug":96},"Story & Novel",90,"story-novel",{"id":47,"doc_module":4,"doc_module_name":46,"category_name":98,"show_sort_weight":99,"slug":100},"Literature",80,"literature",{"id":52,"doc_module":4,"doc_module_name":46,"category_name":102,"show_sort_weight":103,"slug":104},"Exam",70,"exam",{"id":106,"doc_module":4,"doc_module_name":46,"category_name":107,"show_sort_weight":108,"slug":109},5,"Comic",60,"comic",{"id":111,"doc_module":4,"doc_module_name":46,"category_name":112,"show_sort_weight":113,"slug":114},6,"Technology",50,"technology",{"id":116,"doc_module":4,"doc_module_name":46,"category_name":117,"show_sort_weight":118,"slug":119},7,"Healthcare",40,"healthcare",{"id":11,"doc_module":4,"doc_module_name":46,"category_name":12,"show_sort_weight":121,"slug":122},30,"research-report",{"id":124,"doc_module":4,"doc_module_name":46,"category_name":125,"show_sort_weight":126,"slug":127},9,"Religion & Spirituality",20,"religion-spirituality",{"id":126,"doc_module":4,"doc_module_name":46,"category_name":129,"show_sort_weight":126,"slug":130},"World Cup","world-cup",{"id":132,"doc_module":4,"doc_module_name":46,"category_name":133,"show_sort_weight":132,"slug":134},10,"Lifestyle","lifestyle",{"id":136,"doc_module":4,"doc_module_name":46,"category_name":137,"show_sort_weight":106,"slug":138},19,"General","general"]