Experimental Comparison of Control Methods for Endovascular Robots with Haptic Feedback

Abstract Time needed for navigation plays an important role in success of thrombectomies and other endovascular interventions. Thus, precise control of the catheter is crucial for the intervention’s success. We experimentally compare different interactive control strategies for endovascular robots with and without haptic feedback on one common input device while navigating a guidewire through an aortic arch. Using both a manual-catheter-manipulation-inspired control method and haptic feedback of the instruments tip force led to up to 33 % shorter intervention time and 49 % reduced task load, measured using the NASA TLX, compared to joystick control without haptic feedback.