[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"doc-detail-84983-en":3,"doc-seo-84983-105":29,"detail-sidebar-cat-0-en-105":90},{"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":4,"is_deleted":4,"is_public":20,"is_downloadable":20,"audit_status":20,"page_count":21,"language":22,"language_code":23,"site_id":24,"html_lang":23,"table_of_contents":25,"faqs":26,"seo_title":13,"seo_description":14,"update_tm":27,"read_time":28},84983,7971461740909,"Levi","https://ap-avatar.wpscdn.com/davatar_155a257f0dc6eb9ab79c44ca47cae57d",8,"Research & Report","Manual, Joystick, or Haptic Control? An In Vitro Comparison of Navigation Strategies for Robotic Interventional Neuroradiology Procedures","Objective: evaluate robotic controller interfaces for interventional neuroradiology procedures in vitro, integrating a force-sensing platform to assess safety. Methods: build a custom endovascular robot, device-mimicking controller, and sensorized neurovascular phantom; ten neuroradiologists (novices and experts) complete simulated navigations with device-mimicking controllers (haptic on/off), joystick input, and manual navigation. Measure navigation time, peak vessel-wall forces, incorrect catheterisations, and prolapse events, plus user analyses. Results: manual navigation is fastest; all modalities remain under puncture-threshold forces; joystick increases prolapse events; expertise improves accuracy.","Manual, Joystick, or Haptic Control? An In Vitro Comparison of Navigation Strategies for Robotic Interventional Neuroradiology Procedures  \nBenjamin Jackson 1 , Nikola Fischer 1 , Harry Robertshaw 1 , Xingyu Chen 1 , S.M.Hadi Sadati 1,2 , Yang Li 1 , Jeremy Lynch3 , Nasr Abdelsalam4 , Jonathon Buwanabala3 , Matthew Benger3 , Sara Sciacca3 , Naga Kandasamy3 , Marco Mancuso-Marcello5 , Parthiban Balasundaram3 , Sahan Guruge3 , Neelan Das6 Alejandro Granados 1 ,  \nKawal Rhode 1 , and Thomas C Booth 1,3  \n1 School of Biomedical Engineering & Imaging Sciences, King’s College London, UK  \n2 School of Engineering and Materials Science, Queen Mary University of London, UK  \n3Department of Neuroradiology, King’s College Hospital NHS Foundation Trust, London, UK  \n4The Walton Centre NHS Foundation Trust, Liverpool, UK  \n5University College London Hospitals NHS Foundation Trust, London, UK  \n6East Kent Hospitals University NHS Foundation Trust, Kent, UK Corresponding author: ([thomas.booth@kcl.ac.uk](thomas.booth@kcl.ac.uk))  \narXiv :2607 .07253v 1 [ cs .RO] 8 Jul 2026  \nAbstract—Objective: To evaluate robotic controller interfaces for interventional neuroradiology procedures in-vitro incorporating a force-sensing platform to assess safety.  \nMethods: A custom endovascular robot, device-mimicking controller, and sensorized neurovascular phantom were developed. Ten interventional neuroradiologists (4 novices, 6 experts) performed simulated navigations using four control modalities: device-mimicking controllers with and without haptic feedback, joystick-based input, and manual navigation. Navigation time, peak vessel-wall forces, incorrect catheterisations, and prolapse events were assessed, alongside user analyses.  \nResults: Manual navigation was fastest (mean 47.7 s) compared to haptic-on (248.7 s), haptic-off (314.7 s), and joystick (392.6 s) modalities (p \u003C0.001). Regardless of controller type, vessel-wall forces were below the 0.70 N puncture threshold; therefore all modalities were considered safe. Joystick produced significantly more prolapse events than manual control (1.56 vs 0.13; p=0.018). Operator experience was relevant to performance: experts made fewer incorrect catheterisations than novices (0.25 vs 0.62; p=0.035) and applied less vessel-wall force (p \u003C0.0005); these effects were sustained across controllers but accentuated when haptics were on. Users perceived haptic on and haptic off as similarly intuitive, and more intuitive than joystick (p=0.033).  \nConclusion: Device-mimicking robotic controllers outperform joystick interfaces on most metrics; haptic feedback shows promising but non-significant performance benefits.  \nIndex Terms—Endovascular robotics, interventional neuroradiology, haptic feedback, vascular phantom, force sensing, teleoperation, mechanical thrombectomy.  \nI. INTRODUCTION  \nStroke remains a significant public health burden, accounting for approximately 6.55 million deaths in 2019 [1] . While mechanical mechanical thrombectomy (MT) is the standard treatment for large-vessel occlusion, its reach is restricted by procedural complexity and a shortage of trained interventional neuroradiologists [2] . Robotic systems offer a potential solution  \nby increasing precision and enabling tele-operated remote intervention, though a translational gap remains for operators between manual manipulation of devices in the operating room (OR), and using robotic interfaces to perform that task [3] . Robotic interfaces generally utilize either non-isomorphic interfaces (e.g., joysticks) or device-mimicking interfaces (i.e. replicating the interactions clinicians have with common endovascular devices) . Device-mimicking has the potential topreserve operator intuition and reduce the translational gap [4] .  \nComparative verification of robotic interface control requires assessment of metrics such as navigation time, path efficiency, and force exerted from the endovascular tools on the vascular anatomy. While these have been","cbCail73869fzxqA","https://ap.wps.com/l/cbCail73869fzxqA","pdf",30219116,1,11,"English","en",105,"# Abstract\n# Introduction\n# Methods","[{\"question\":\"What is the main objective of the study?\",\"answer\":\"The study evaluates robotic controller interfaces for interventional neuroradiology procedures in vitro and uses a force-sensing platform to assess safety.\"},{\"question\":\"Which navigation control modalities were compared?\",\"answer\":\"Four modalities were tested: device-mimicking controllers with haptic feedback, device-mimicking controllers without haptics, joystick-based input, and manual navigation.\"},{\"question\":\"What were the key findings regarding speed, safety, and user experience?\",\"answer\":\"Manual navigation was the fastest, while all modalities stayed below the vessel-wall puncture threshold, indicating safety. Joystick produced more prolapse events than manual control, and users perceived both haptic-on and haptic-off as similarly intuitive and more intuitive than joystick.\"}]",1784200024,28,{"code":4,"msg":30,"data":31},"ok",{"site_id":24,"language":23,"slug":32,"title":13,"keywords":33,"description":14,"schema_data":34,"social_meta":85,"head_meta":87,"extra_data":89,"updated_unix":27},"manual-joystick-or-haptic-control-an-in-vitro-comparison-of-navigation-strategies-for-robotic-interventional-neuroradiology-procedures","",{"@graph":35,"@context":84},[36,53,67],{"@type":37,"itemListElement":38},"BreadcrumbList",[39,43,47,50],{"item":40,"name":41,"@type":42,"position":20},"https://docshare.wps.com","Home","ListItem",{"item":44,"name":45,"@type":42,"position":46},"https://docshare.wps.com/document/","Document",2,{"item":48,"name":12,"@type":42,"position":49},"https://docshare.wps.com/document/research-report/",3,{"item":51,"name":13,"@type":42,"position":52},"https://docshare.wps.com/document/manual-joystick-or-haptic-control-an-in-vitro-comparison-of-navigation-strategies-for-robotic-interventional-neuroradiology-procedures/84983/",4,{"url":51,"name":13,"@type":54,"author":55,"headline":13,"publisher":57,"fileFormat":60,"inLanguage":23,"description":14,"dateModified":61,"datePublished":61,"encodingFormat":60,"isAccessibleForFree":62,"interactionStatistic":63},"DigitalDocument",{"name":9,"@type":56},"Person",{"url":40,"name":58,"@type":59},"DocShare","Organization","application/pdf","2026-07-16",true,{"@type":64,"interactionType":65,"userInteractionCount":4},"InteractionCounter",{"@type":66},"ViewAction",{"@type":68,"mainEntity":69},"FAQPage",[70,76,80],{"name":71,"@type":72,"acceptedAnswer":73},"What is the main objective of the study?","Question",{"text":74,"@type":75},"The study evaluates robotic controller interfaces for interventional neuroradiology procedures in vitro and uses a force-sensing platform to assess safety.","Answer",{"name":77,"@type":72,"acceptedAnswer":78},"Which navigation control modalities were compared?",{"text":79,"@type":75},"Four modalities were tested: device-mimicking controllers with haptic feedback, device-mimicking controllers without haptics, joystick-based input, and manual navigation.",{"name":81,"@type":72,"acceptedAnswer":82},"What were the key findings regarding speed, safety, and user experience?",{"text":83,"@type":75},"Manual navigation was the fastest, while all modalities stayed below the vessel-wall puncture threshold, indicating safety. Joystick produced more prolapse events than manual control, and users perceived both haptic-on and haptic-off as similarly intuitive and more intuitive than joystick.","https://schema.org",{"og:url":51,"og:type":86,"og:title":13,"og:site_name":58,"og:description":14},"article",{"robots":88,"canonical":51},"index,follow",{"doc_id":7,"site_id":24},{"code":4,"msg":5,"data":91},[92,96,100,104,109,114,119,122,127,130,134],{"id":20,"doc_module":4,"doc_module_name":45,"category_name":93,"show_sort_weight":94,"slug":95},"Story & Novel",90,"story-novel",{"id":46,"doc_module":4,"doc_module_name":45,"category_name":97,"show_sort_weight":98,"slug":99},"Literature",80,"literature",{"id":52,"doc_module":4,"doc_module_name":45,"category_name":101,"show_sort_weight":102,"slug":103},"Exam",70,"exam",{"id":105,"doc_module":4,"doc_module_name":45,"category_name":106,"show_sort_weight":107,"slug":108},5,"Comic",60,"comic",{"id":110,"doc_module":4,"doc_module_name":45,"category_name":111,"show_sort_weight":112,"slug":113},6,"Technology",50,"technology",{"id":115,"doc_module":4,"doc_module_name":45,"category_name":116,"show_sort_weight":117,"slug":118},7,"Healthcare",40,"healthcare",{"id":11,"doc_module":4,"doc_module_name":45,"category_name":12,"show_sort_weight":120,"slug":121},30,"research-report",{"id":123,"doc_module":4,"doc_module_name":45,"category_name":124,"show_sort_weight":125,"slug":126},9,"Religion & Spirituality",20,"religion-spirituality",{"id":125,"doc_module":4,"doc_module_name":45,"category_name":128,"show_sort_weight":125,"slug":129},"World Cup","world-cup",{"id":131,"doc_module":4,"doc_module_name":45,"category_name":132,"show_sort_weight":131,"slug":133},10,"Lifestyle","lifestyle",{"id":135,"doc_module":4,"doc_module_name":45,"category_name":136,"show_sort_weight":105,"slug":137},19,"General","general"]