TITLE:
Robotic System with Haptic Feedback for Intelligent Coronary Stent Implantation in Percutaneous Coronary Intervention
AUTHORS:
Yingxin Zhang, Meiqi Yin, Dandan Deng
KEYWORDS:
Coronary Interventional Robot, Stent Implantation, Master-Slave Teleoperation, Haptic Force Feedback, Percutaneous Coronary Intervention, Vascular Phantom
JOURNAL NAME:
Open Access Library Journal,
Vol.13 No.8,
August
26,
2026
ABSTRACT: Traditional percutaneous coronary intervention (PCI) exposes interventional cardiologists to long-term X-ray radiation and musculoskeletal injuries caused by lead aprons. Hand tremor during manual operation also leads to insufficient positioning accuracy of stent deployment, increasing risks of stent malapposition and in-stent restenosis. To address these limitations, this paper develops a master-slave teleoperated robotic system for intelligent coronary stent implantation. The platform consists of a surgeon master console, bedside slave manipulator, real-time force sensing module, and image navigation upper computer subsystem. The slave robot realizes multi-degree-of-freedom coordinated control of axial translation and rotation for guidewires, balloon catheters and stent delivery systems. A high-precision force sensor is integrated to detect vessel contact force at the catheter path, and an impedance-based haptic teleoperation algorithm is proposed. Combined with coronary angiography visualization, targeted positioning of stent deployment zones is realized. A segmented motion control strategy is designed for different PCI stages, enabling automatic velocity reduction during stent positioning and release. In-vitro experiments are carried out on a silicone coronary phantom with simulated vascular stenosis. Results demonstrate that the average axial positioning error reaches 0.32 mm, and the rotational angle error is less than 0.45˚. Two-level force thresholds are embedded in the control loop; the system actively limits pushing force to prevent vascular dissection or perforation when excessive contact occurs. Compared with manual operation, the robotic system eliminates radiation exposure for operators and improves positioning repeatability during stent implantation. Phantom experiments verify the mechanical stability and control performance of the proposed system, providing a feasible design scheme for next-generation intelligent interventional robotic platforms.