Hybrid control algorithm for precision motion in robot-assisted cardiac catheterization

Abstract

Cardiovascular diseases pose a significant global health challenge, necessitating advancements in precision-driven interventional techniques. Robotic-assisted cardiac catheterization integrates high-precision mechanical systems, including roller-based, gear-driven, and belt-pulley mechanisms, for controlled catheter manipulation. Spring-loaded force dynamics characterize catheter deformation, aiding in torque estimation across various material compositions. This study presents a hybrid control algorithm that enhances motion accuracy by optimizing overshoot percentages and settling times, outperforming conventional controllers while maintaining stable proportional-integral-derivative ($k_p$, $k_i$, $k_d$) parameters. The robotic system achieves translational catheter motion at approximately 0.060 rad/s, ensuring a precise displacement of nearly 1 mm/s. Rotational movement at 0.98 rad/s enables an angular shift of 0.9° per pulse, ensuring smooth, and predictable navigation. Experimental validation of the Feed-Forward PID (FFPID) controller confirmed high accuracy, stability, and responsiveness. Displacement tracking showed minimal error (RMSE < 0.017 mm, $R^2$ = 0.999), while rotational control maintained angular precision (RMSE < ${0.11}^{°}$, overshoot < 1%). These results validate the FFPID controller's effectiveness for real-time catheter control in robot-assisted cardiac procedures. Real-time sensor feedback enables dynamic trajectory adjustments, fine-tuning motion control for improved procedural accuracy. A dedicated surgeon-centric control panel allows seamless bidirectional catheter manipulation, ensuring intuitive handling for intricate interventions. The integration of advanced hardware and an adaptive hybrid control strategy minimizes tracking errors and optimizes efficiency. This research highlights the transformative impact of hybrid control methodologies in robotic-assisted interventions, paving the way for more intelligent and autonomous cardiovascular surgical systems.

Keywords: control algorithm; master-slave robotic system; robot-assisted cardiac catheterization; robotic assisted surgery; speed and angle of catheter motion.