A Simulation Environment for Robot-Assisted Endovascular Interventions

A Simulation Environment for Robot-Assisted Endovascular Interventions | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article A Simulation Environment for Robot-Assisted Endovascular Interventions Matteo Pescio, Chenhao Li, Dennis Kundrat, Maura Casadio, Giulio Dagnino This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-5814017/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Purpose Cardiovascular diseases are the leading cause of mortality globally. Advances in interventional radiology and endovascular devices have made endovascular procedures effective alternatives to traditional open surgery, leading to their routine application in clinical practice. Within this framework, novel technologies, including robotic platforms and navigation software, have been developed to assist clinicians in executing endovascular interventions with improved dexterity, enhanced guidance, and superior clinical training, ultimately yielding better patient outcomes. Methods This study aims to develop a model-based simulation environment within the SOFA Framework, to enable shape and force sensing for endovascular robotic procedures. The vascular catheter was modeled using beam theory and realistic interactions between the catheter and vascular models were established using the Finite Element Method (FEM) with both linear elastic and nonlinear hyper-elastic models. Experiments measured contact forces and positional changes during catheter insertion, comparing anatomical deformations with simulation results. Results Experimental tests validated the simulated force and displacement measurements. The catheter contact force showed an absolute error of 0.0371 N (30.45%). Catheter tip displacement averaged 3.1 mm, and the proximal segment’s Fréchet distance averaged 3.6 mm. For the anatomical model, the Elastic FEM model performed best, with deformation measurement errors of 34%, 19%, and 59% across three different force scenarios. Conclusion The results indicate that the integration of advanced physical modeling, realistic human-robot interactions, and enhanced computational capabilities will facilitate the development of innovative solutions, enabling clinicians to achieve greater accuracy and reliability in minimally invasive surgical (MIS) applications, particularly in endovascular interventions. Biomedical Engineering Endovascular Robotic Surgery Surgical Simulation Model-Based Force and Shape Sensing Digital Twin Full Text Additional Declarations The authors declare no competing interests. Supplementary Files SupplementaryMaterialRev.108Jan.docx Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-5814017","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":401051653,"identity":"2fe401a1-b08c-407f-a642-9cd768c08fa7","order_by":0,"name":"Matteo Pescio","email":"","orcid":"","institution":"","correspondingAuthor":false,"prefix":"","firstName":"Matteo","middleName":"","lastName":"Pescio","suffix":""},{"id":401051654,"identity":"25c882ce-7f27-4625-a036-f0241a1bd39c","order_by":1,"name":"Chenhao Li","email":"","orcid":"","institution":"","correspondingAuthor":false,"prefix":"","firstName":"Chenhao","middleName":"","lastName":"Li","suffix":""},{"id":401051655,"identity":"46932aed-6528-4bfd-bcbe-f6ff668f4855","order_by":2,"name":"Dennis Kundrat","email":"","orcid":"","institution":"","correspondingAuthor":false,"prefix":"","firstName":"Dennis","middleName":"","lastName":"Kundrat","suffix":""},{"id":401051656,"identity":"56206a47-9a1f-4f42-a654-3fb8748c554b","order_by":3,"name":"Maura Casadio","email":"","orcid":"","institution":"","correspondingAuthor":false,"prefix":"","firstName":"Maura","middleName":"","lastName":"Casadio","suffix":""},{"id":401051657,"identity":"ae06fdef-56d3-4c7c-b766-64ce34dcd1ba","order_by":4,"name":"Giulio Dagnino","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA40lEQVRIiWNgGAWjYHACAyCWYGBgb4CLMB4gTgvPAcYGCIuBgRgtILUJRGqRd2De+PHrDos8fsk35o95Ku7U8TPwHsCrxfAAW7G07BmJYsnZOYbNPGeeSUg28CXg19LAYyAt2SaRuOE2UEtu22EJgwM8BoS0GP8Ga7l5Bqjl32EJe0Ja5Bl4zCQ/grTc4AFqaQDawkBAiwEzW5k1I1DLzJ60wtl/jh2WnHGYkC3tzZtv/myrS+xnP7zh44yaw/z87T2GD/DacpiBgZkHRYgZn3qQLQ3A9PGDgKJRMApGwSgY4QAA4TVLGY8B91oAAAAASUVORK5CYII=","orcid":"","institution":"University of Twente","correspondingAuthor":true,"prefix":"","firstName":"Giulio","middleName":"","lastName":"Dagnino","suffix":""}],"badges":[],"createdAt":"2025-01-12 14:05:43","currentVersionCode":1,"declarations":{"humanSubjects":false,"vertebrateSubjects":false,"conflictsOfInterestStatement":false,"humanSubjectEthicalGuidelines":false,"humanSubjectConsent":false,"humanSubjectClinicalTrial":false,"humanSubjectCaseReport":false,"vertebrateSubjectEthicalGuidelines":false},"doi":"10.21203/rs.3.rs-5814017/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-5814017/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":73822660,"identity":"fe4603ae-8d6c-4b17-a8ac-7d18f16679c7","added_by":"auto","created_at":"2025-01-15 04:48:02","extension":"docx","order_by":1,"title":"","display":"","copyAsset":false,"role":"supplement","size":2047818,"visible":true,"origin":"","legend":"","description":"","filename":"SupplementaryMaterialRev.108Jan.docx","url":"https://assets-eu.researchsquare.com/files/rs-5814017/v1/bfb25d52d5f22d02c667e2f5.docx"}],"financialInterests":"The authors declare no competing interests.","formattedTitle":"\u003cp\u003eA Simulation Environment for Robot-Assisted Endovascular Interventions\u003c/p\u003e","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":true,"hideJournal":true,"highlight":"","institution":"University of Twente","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":false,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Endovascular Robotic Surgery, Surgical Simulation, Model-Based Force and Shape Sensing, Digital Twin","lastPublishedDoi":"10.21203/rs.3.rs-5814017/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-5814017/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003ch2\u003ePurpose\u003c/h2\u003e \u003cp\u003eCardiovascular diseases are the leading cause of mortality globally. Advances in interventional radiology and endovascular devices have made endovascular procedures effective alternatives to traditional open surgery, leading to their routine application in clinical practice. Within this framework, novel technologies, including robotic platforms and navigation software, have been developed to assist clinicians in executing endovascular interventions with improved dexterity, enhanced guidance, and superior clinical training, ultimately yielding better patient outcomes.\u003c/p\u003e\u003ch2\u003eMethods\u003c/h2\u003e \u003cp\u003eThis study aims to develop a model-based simulation environment within the SOFA Framework, to enable shape and force sensing for endovascular robotic procedures. The vascular catheter was modeled using beam theory and realistic interactions between the catheter and vascular models were established using the Finite Element Method (FEM) with both linear elastic and nonlinear hyper-elastic models. Experiments measured contact forces and positional changes during catheter insertion, comparing anatomical deformations with simulation results.\u003c/p\u003e\u003ch2\u003eResults\u003c/h2\u003e \u003cp\u003eExperimental tests validated the simulated force and displacement measurements. The catheter contact force showed an absolute error of 0.0371 N (30.45%). Catheter tip displacement averaged 3.1 mm, and the proximal segment\u0026rsquo;s Fr\u0026eacute;chet distance averaged 3.6 mm. For the anatomical model, the Elastic FEM model performed best, with deformation measurement errors of 34%, 19%, and 59% across three different force scenarios.\u003c/p\u003e\u003ch2\u003eConclusion\u003c/h2\u003e \u003cp\u003eThe results indicate that the integration of advanced physical modeling, realistic human-robot interactions, and enhanced computational capabilities will facilitate the development of innovative solutions, enabling clinicians to achieve greater accuracy and reliability in minimally invasive surgical (MIS) applications, particularly in endovascular interventions.\u003c/p\u003e","manuscriptTitle":"A Simulation Environment for Robot-Assisted Endovascular Interventions","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2025-01-15 04:47:57","doi":"10.21203/rs.3.rs-5814017/v1","editorialEvents":[{"type":"communityComments","content":0}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"de3f0d6a-0740-423b-aac2-b9d0b420ecef","owner":[],"postedDate":"January 15th, 2025","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"posted","subjectAreas":[{"id":42740458,"name":"Biomedical Engineering"}],"tags":[],"updatedAt":"2025-01-15T04:47:57+00:00","versionOfRecord":[],"versionCreatedAt":"2025-01-15 04:47:57","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-5814017","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-5814017","identity":"rs-5814017","version":["v1"]},"buildId":"8U1c8b4HqxoKbykW_rLl7","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}