"Supplementary\uff1aPan-vascular Intervention Robot Featuring Natural Haptic Human-Robot Interaction"

"Cardiovascular and cerebrovascular diseases are the leading causes of death, particularly in the aging population. Although endovascular interventions are standard treatments, they expose clinicians to radiation and physical strain, and are technically demanding. Existing robotic systems offer limited support for neurovascular procedures and lack force feedback and coordinated multiinstrument control. To develop a modular pan-vascular interventional robotic system capable of supporting neurovascular, coronary, and peripheral procedures with integrated force-sensing and haptic feedback to improve surgical safety and precision. A modular robotic system was designed with embedded force sensors to detect axial forces in flexible instruments combined with a teleoperation architecture for real-time haptic feedback. The system supports various endovascular tools and can be configured for different vascular regions. In vivo animal experiments were conducted to evaluate the safety, stability, and functional performance of this system. The system successfully supported neurovascular, coronary, and peripheral interventions with high sensitivity to axial forces. The in vivo trials demonstrated reliable force feedback, procedural stability, and no complications, indicating improved operator control. The proposed robotic system provides a unified solution for panvascular intervention with integrated force feedback, demonstrating its potential to enhance the safety, precision, and clinical versatility of endovascular surgeries."