{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,21]],"date-time":"2026-10-21T15:49:25Z","timestamp":1792597765342,"version":"4.5.0"},"reference-count":26,"publisher":"SAGE Publications","issue":"10","license":[{"start":{"date-parts":[[2025,10,1]],"date-time":"2025-10-01T00:00:00Z","timestamp":1759276800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100015653","name":"CSIR-Central Scientific Instruments Organisation","doi-asserted-by":"publisher","award":["MLP-2028"],"award-info":[{"award-number":["MLP-2028"]}],"id":[{"id":"10.13039\/501100015653","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proc Inst Mech Eng H"],"published-print":{"date-parts":[[2025,10]]},"abstract":"<jats:p>\n                    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 (\n                    <jats:inline-formula>\n                      <mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" display=\"inline\" overflow=\"scroll\">\n                        <mml:mrow>\n                          <mml:msub>\n                            <mml:mrow>\n                              <mml:mi>k<\/mml:mi>\n                            <\/mml:mrow>\n                            <mml:mrow>\n                              <mml:mi>p<\/mml:mi>\n                            <\/mml:mrow>\n                          <\/mml:msub>\n                        <\/mml:mrow>\n                      <\/mml:math>\n                    <\/jats:inline-formula>\n                    ,\n                    <jats:inline-formula>\n                      <mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" display=\"inline\" overflow=\"scroll\">\n                        <mml:mrow>\n                          <mml:msub>\n                            <mml:mrow>\n                              <mml:mi>k<\/mml:mi>\n                            <\/mml:mrow>\n                            <mml:mrow>\n                              <mml:mi>i<\/mml:mi>\n                            <\/mml:mrow>\n                          <\/mml:msub>\n                        <\/mml:mrow>\n                      <\/mml:math>\n                    <\/jats:inline-formula>\n                    ,\n                    <jats:inline-formula>\n                      <mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" display=\"inline\" overflow=\"scroll\">\n                        <mml:mrow>\n                          <mml:msub>\n                            <mml:mrow>\n                              <mml:mi>k<\/mml:mi>\n                            <\/mml:mrow>\n                            <mml:mrow>\n                              <mml:mi>d<\/mml:mi>\n                            <\/mml:mrow>\n                          <\/mml:msub>\n                        <\/mml:mrow>\n                      <\/mml:math>\n                    <\/jats:inline-formula>\n                    ) parameters. The robotic system achieves translational catheter motion at approximately 0.060\u2009rad\/s, ensuring a precise displacement of nearly 1\u2009mm\/s. Rotational movement at 0.98\u2009rad\/s enables an angular shift of 0.9\u00b0 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\u2009&lt;\u20090.017 mm,\n                    <jats:inline-formula>\n                      <mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" display=\"inline\" overflow=\"scroll\">\n                        <mml:mrow>\n                          <mml:msup>\n                            <mml:mrow>\n                              <mml:mi>R<\/mml:mi>\n                            <\/mml:mrow>\n                            <mml:mrow>\n                              <mml:mn>2<\/mml:mn>\n                            <\/mml:mrow>\n                          <\/mml:msup>\n                        <\/mml:mrow>\n                      <\/mml:math>\n                    <\/jats:inline-formula>\n                    \u2009=\u20090.999), while rotational control maintained angular precision (RMSE\u2009&lt;\u2009\n                    <jats:inline-formula>\n                      <mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" display=\"inline\" overflow=\"scroll\">\n                        <mml:mrow>\n                          <mml:msup>\n                            <mml:mrow>\n                              <mml:mn>0<\/mml:mn>\n                              <mml:mo>.<\/mml:mo>\n                              <mml:mn>11<\/mml:mn>\n                            <\/mml:mrow>\n                            <mml:mrow>\n                              <mml:mo>\u00b0<\/mml:mo>\n                            <\/mml:mrow>\n                          <\/mml:msup>\n                        <\/mml:mrow>\n                      <\/mml:math>\n                    <\/jats:inline-formula>\n                    , overshoot\u2009&lt;\u20091%). These results validate the FFPID controller\u2019s 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.\n                  <\/jats:p>","DOI":"10.1177\/09544119251385276","type":"journal-article","created":{"date-parts":[[2025,10,21]],"date-time":"2025-10-21T14:18:24Z","timestamp":1761056304000},"page":"1042-1052","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["Hybrid control algorithm for precision motion in robot-assisted cardiac catheterization"],"prefix":"10.1177","volume":"239","author":[{"given":"Naman","family":"Gupta","sequence":"first","affiliation":[{"name":"Council of Scientific and Industrial Research (CSIR)-Central Scientific Instruments Organisation, Chandigarh, India"},{"name":"Academy of Scientific and Innovative Research (AcSIR), Ghaziabad, India"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4741-0475","authenticated-orcid":false,"given":"Ranjan","family":"Jha","sequence":"additional","affiliation":[{"name":"Council of Scientific and Industrial Research (CSIR)-Central Scientific Instruments Organisation, Chandigarh, India"},{"name":"Academy of Scientific and Innovative Research (AcSIR), Ghaziabad, India"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2025,10,21]]},"reference":[{"key":"e_1_3_3_2_2","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.2134"},{"key":"e_1_3_3_3_2","unstructured":"Donhowe CQ Duindam V Prisco GM. 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