Annals of Biomedical Engineering最新文献

{"title":"Estimating Human-Centered Slip-Resistance of Winter Footwear on Ice Using Mechanical Testing.","authors":"Shaghayegh Chavoshian, Chantal Gauvin, Atena Roshan Fekr","doi":"10.1007/s10439-026-04156-z","DOIUrl":"https://doi.org/10.1007/s10439-026-04156-z","url":null,"abstract":"<p><strong>Purpose: </strong>Slips and falls are leading causes of injury-related incidents, and one of the most effective ways to prevent slips is to use slip-resistant footwear. To evaluate footwear slip resistance, two main experiments are conducted: (1) human-centered tests, and (2) mechanical tests. Human-centered slip resistance tests better capture real-world locomotion dynamics than mechanical tests, but they are costly and time-consuming. This study aimed to develop a predictive model that estimates human-centered slipperiness score called Maximum Achievable Angle (MAA) outcomes using mechanical slip resistance measurements, enabling accessible footwear evaluation.</p><p><strong>Methods: </strong>Thirty-seven winter footwear samples were tested using both human-centered MAA testing and the SATRA STM 603 mechanical slip resistance tester on wet and dry ice surfaces. Ten linear and non-linear regression models were trained using a nested 5-fold cross-validation approach with unseen footwear in each fold to support generalizability. Model performance was evaluated using Root Mean Square Error (RMSE), Mean Absolute Error (MAE), Mean Absolute Percentage Error (MAPE), coefficient of determination (R²), and Bland-Altman analysis.</p><p><strong>Results: </strong>Across all models, the Ridge model produced the most conservative and consistent results, achieving an RMSE of 2.73° and MAE of 2.27° on wet ice, and an RMSE of 1.58° and MAE of 1.33° on dry ice. Although the results are close to the ± 1° acceptable range of MAA, slight deviations in some cases highlight opportunities for future model improvement.</p><p><strong>Conclusion: </strong>Mechanical slip resistance metrics can be used to reasonably predict human-centered MAA outcomes. While prediction accuracy is promising, further refinement is needed to fully meet the precision requirements for footwear slip resistance certification.</p>","PeriodicalId":7986,"journal":{"name":"Annals of Biomedical Engineering","volume":" ","pages":""},"PeriodicalIF":5.4,"publicationDate":"2026-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147832601","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Microcavitary Alginate Hydrogel Reverses Chondrocyte Dedifferentiation via Temporal Modulation of the p53 Pathway.","authors":"Yongchang Yao, Weixian Su, Yupeng Nie, Haoyang Sun, Rui Wang, Rixu Liu, Weiqiang Dong","doi":"10.1007/s10439-026-04170-1","DOIUrl":"https://doi.org/10.1007/s10439-026-04170-1","url":null,"abstract":"<p><p>The dedifferentiation of chondrocytes significantly restricts their functional performance and practical applications. In our previous research, an easily preparable microcavitary alginate hydrogel (MCG) was shown to effectively promote the redifferentiation of dedifferentiated chondrocytes. Building on this, the present study further investigates the transcriptomic changes during chondrocyte dedifferentiation, utilizing high-throughput RNA sequencing to explore how MCG regulates passage-four dedifferentiated porcine chondrocytes over a 28-day period. Integrated analysis of transcriptomic profiling data across multiple time points identified the p53 signaling pathway as a potentially central regulatory node. Key findings validated by quantitative real-time polymerase chain reaction, Western blot, and Cell Counting Kit-8 assays demonstrated the following: (1) MCG arrested the progression of dedifferentiation, downregulated fibrosis/degeneration markers (COL1A1, WNT5A/B), and partially restored chondrogenic gene expression relative to P4; (2) Time-series analysis revealed MCG's influence on cell cycle regulation, extracellular matrix organization, DNA repair, and differentiation processes; (3) Crucially, MCG dynamically regulated the p53 pathway: early activation (TP53, p-p53 Ser15, MDM2) promoted DNA repair (RRM2B) and suppressed excessive inflammation/apoptosis (IL6/8, PMAIP1/CASP3), while subsequent attenuation of the pathway correlated with enhanced late-stage proliferation. In conclusion, the growth factor-free MCG microenvironment alleviates chondrocyte dedifferentiation and facilitates partial redifferentiation by orchestrating cellular behaviors through dynamic regulation of the p53 pathway-particularly via enhanced DNA repair-thereby offering a promising strategy for cell-based therapeutic approaches.</p>","PeriodicalId":7986,"journal":{"name":"Annals of Biomedical Engineering","volume":" ","pages":""},"PeriodicalIF":5.4,"publicationDate":"2026-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147832730","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"In Vivo Brain Deformation in a Sheep Model of Rapid Head Rotation.","authors":"Charlie Cenin Magarey, Mark Plummer, Peter Alec Cripton, Claire Frances Jones","doi":"10.1007/s10439-026-04167-w","DOIUrl":"https://doi.org/10.1007/s10439-026-04167-w","url":null,"abstract":"<p><strong>Purpose: </strong>Synchronous measures of head kinematics and in vivo brain deformation during rapid head rotation are needed to advance understanding of traumatic brain injury (TBI) mechanics and enhance computational modeling as a tool for injury risk assessment and prevention. The aims of this study were to produce repeatable rapid rotation of the in vivo sheep head, to assess the viability of the sonomicrometry method for measuring multipoint brain displacement, and to quantify the in vivo brain deformation response to rapid rotation.</p><p><strong>Methods: </strong>In three anaesthetized adult sheep, arrays of sonomicrometry transceivers were implanted into the brain and rigidly attached to the inner skull surface. Repeatable, rapid, sagittal plane head rotation (nominally about the second cervical vertebra) was induced with a non-impact head rotation apparatus. Computed tomography imaging was performed to assess relative motion between transceivers and brain tissue. Three-dimensional brain displacement, strain, and head kinematics were assessed for repeatability.</p><p><strong>Results: </strong>The location of up to 13 (mean = 11) brain transceivers were tracked in each of 11 rapid head rotation tests. Peak head angular acceleration and velocity were up to 38.56 krad/s² and 30.43 rad/s, respectively, and average duration of head motion was 241.9 ± 23.1 ms. Pre-to-post-test transceiver displacement in brain tissue was less than the spatial resolution of the measurement system, and brain displacements measured during rapid head rotation had excellent repeatability (CORA score 0.99). Brain displacements and strains up to 2.47 mm and 18%, respectively, were observed. The brain exhibited decaying sinusoidal rotational deformation in the sagittal plane with oscillating tension-compression waves.</p><p><strong>Conclusion: </strong>Sonomicrometry was reliably applied in vivo and provided repeatable measurements of brain deformation in a non-survival large animal model of rapid head rotation.</p>","PeriodicalId":7986,"journal":{"name":"Annals of Biomedical Engineering","volume":" ","pages":""},"PeriodicalIF":5.4,"publicationDate":"2026-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147832705","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Exploratory Characterization of Adaptive Eye Strategies to High-Acceleration Loading in the Great Spotted Woodpecker.","authors":"Jiazheng Li, Qiao Li, Xue Zhou, Ahmed Elsheikh, Ying Wang, Jing Zhang, Lizhen Wang, Yubo Fan","doi":"10.1007/s10439-026-04134-5","DOIUrl":"https://doi.org/10.1007/s10439-026-04134-5","url":null,"abstract":"<p><strong>Purpose: </strong>Woodpeckers often withstand extreme high acceleration during the pecking process, but show no signs of eye injuries. This study seeks to explore what biomechanical adaptations woodpeckers adopt to protect their eyes under such high impact.</p><p><strong>Methods: </strong>The morphometric parameter of eyes in the Great Spotted Woodpecker and its control, Eurasian Hoopoe, were observed based on frozen sectioning and Nissl staining. A series of protein expression including β-APP, p-Tau, p-CRMP2, HSP70, and mTOR of the birds' eyes were also obtained using immunofluorescence staining.</p><p><strong>Results: </strong>The Great Spotted Woodpecker exhibits a denser, ossified sclera and a more complex pecten. β-APP was primarily localized in the outer nuclear layer while p-CRMP2 was predominantly expressed in the GCL, and HSP70 were co-localized with p-Tau in these birds' eyes. Meanwhile, mTOR exhibited distinct expression patterns corresponding to different phases of injury.</p><p><strong>Conclusion: </strong>Two layers of adaptations were found in eyes of woodpeckers. Structurally, ossified sclera and complex pecten contribute to resistance against pecking-induced eye injuries. Molecularly, abnormal aggregation of β-APP and p-Tau in optic nerve cells were prevented by regulating expression of CRMP2, HSP70, and mTOR, thereby reducing damage in the eyes. These results provide a theoretical foundation for the identification, prevention, and mitigation of acceleration-induced eye injuries.</p>","PeriodicalId":7986,"journal":{"name":"Annals of Biomedical Engineering","volume":" ","pages":""},"PeriodicalIF":5.4,"publicationDate":"2026-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147832629","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"An In Silico Patient-Specific Computational Framework for a Tissue-Engineered Pulmonary Valve Using Fluid-Structure Interaction Analysis.","authors":"Fabrizio Crascì, Tahir Turgut, Maria Bastrom, Deniz Oztruk, Nils Götzen, Martijn Cox, Salvatore Pasta","doi":"10.1007/s10439-026-04171-0","DOIUrl":"https://doi.org/10.1007/s10439-026-04171-0","url":null,"abstract":"<p><p>Tissue-engineered heart valves provide significant promise for pediatric patients by overcoming the shortcomings of existing prostheses, which do not accommodate the patients' growth. The Xeltis pulmonary valve (XPV) has recently shown promising clinical outcomes for endogenous tissue restoration in pediatric patients with congenital heart diseases. In this context, patient-specific computational modeling may be pivotal in the advancement and clinical application of in situ polymer-based cardiac valves, enhancing design, facilitating regulatory approval, and diminishing dependence on preclinical animal testing. This study seeks to establish a computational framework for incorporating the XPV device into patient-specific models and assessing the device's biomechanical performance via fully coupled fluid-structure interaction (FSI) simulations. Hemodynamic parameters were predicted and compared with echocardiographic data from the prior Xeltis clinical trial. FSI analyses showed good agreement with clinical assessments, with errors in the device's transmural pressure gradient ≤ 10%. Simulations further confirmed that XPV maintains favorable hemodynamics and mechanical integrity throughout the cardiac cycle. This computational framework can facilitate design optimization and tailored implantation strategies for innovative tissue-engineered heart valves. Although further validation with extensive clinical data is required to confirm the model's credibility, this framework provides a foundation for in silico trials to evaluate the long-term restorative performance of the XPV device.</p>","PeriodicalId":7986,"journal":{"name":"Annals of Biomedical Engineering","volume":" ","pages":""},"PeriodicalIF":5.4,"publicationDate":"2026-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147832552","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A model of axonal damage accumulation from real-world head impact exposure.","authors":"Chaokai Zhang, Lyndia Wu, Songbai Ji","doi":"10.1007/s10439-026-04169-8","DOIUrl":"https://doi.org/10.1007/s10439-026-04169-8","url":null,"abstract":"<p><p>Repetitive head impacts pose a significant threat to brain health. However, their injury accumulation mechanism remains elusive. Here, we study how traumatic axonal injury might accumulate based on typical impact severities and frequencies obtained from University Men's Ice Hockey. From N = 994 impact simulations over a season (N = 22 athletes), we identified 50th (''mild'', 7.0% peak fiber strain), 75th (''intermediate'', 10.6%), and 95th percentile (''moderate'', 17.9%) peak strain magnitudes in the corpus callosum. We simulated up to N = 11 (95th percentile frequency per player game) stretches sequentially using a male axonal injury model to mimic repeated \"mild\", \"intermediate\", and \"moderate\" stretch exposure, along with a moderate insult followed by or following mild/intermediate repetitive stretches. We first identified a \"safe\" stretch threshold of ~ 5%, below which no cytoskeletal damage or accumulation occurred. Our model predicted that neurofilament (NF) damage accumulated even at the mild magnitude exposure, while damage of tau proteins accumulated at or above the intermediate magnitude. An initial moderate stretch can almost double tau and NF damage accumulation when the axon was exposed to additional intermediate stretches. A history of intermediate stretch exposure prior to a moderate stretch can also increase tau and NF failure (e.g., by ~ 50 and ~ 100%, respectively, relative to a single moderate stretch). These results offer mechanistic insight into why continuing play after concussion would make the brain more vulnerable, and a history of head impacts may lower concussive impact threshold. They may also explain why tau proteins and especially NF-light could serve as concussion-sensitive biomarkers.</p>","PeriodicalId":7986,"journal":{"name":"Annals of Biomedical Engineering","volume":" ","pages":""},"PeriodicalIF":5.4,"publicationDate":"2026-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147832507","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Supervised Learning for Collagen Segmentation in Bright-Field Histology: A Comparative Evaluation of U-Net and MLP.","authors":"Evelyn R Silva, Lívia B Souza, Fernanda S Tenorio, Nilsa R Damaceno-Rodrigues, Rita C Marqueti, Karina R Casali, Tatiana S Cunha, Matheus C Moraes","doi":"10.1007/s10439-026-04155-0","DOIUrl":"https://doi.org/10.1007/s10439-026-04155-0","url":null,"abstract":"<p><strong>Purpose: </strong>Quantifying collagen in histological slides is essential for diagnosing and monitoring fibrosis. However, the combination of PicroSirius Red staining with polarized light microscopy, one of the standard techniques, requires expensive equipment and time-consuming procedures. This study investigated whether supervised machine learning algorithms applied to bright-field images could provide an automated and accurate method for collagen segmentation, reducing the dependence on polarized imaging.</p><p><strong>Methods: </strong>A total of 140 histological images of renal, cardiac, and tendinous tissues from mice and rats stained with PicroSirius Red were analyzed. The images were fragmented into smaller patches, and the green channel was selected for non-polarized analysis. The reference standard was generated from polarized images binarized using ImageJ. Two supervised models were evaluated: (1) a Multilayer Perceptron (MLP) trained using five features (RGB intensities, median filter, and Wavelet), and (2) a U-Net architecture adapted to the image dimensions.</p><p><strong>Results: </strong>Both models performed well, with the best results observed in rat tendon samples (Dice and precision > 80%). Performance was lower in mouse kidney images, possibly due to weaker staining and thinner collagen fibers. Overall, the MLP slightly outperformed the U-Net, which still showed comparable results.</p><p><strong>Conclusion: </strong>The proposed methodology proved effective for collagen segmentation highlighting the potential of supervised learning to reduce costs and processing time in histological analysis. Future improvements include expanding the dataset and refining the reference standard to enhance robustness in biological tissue evaluation.</p>","PeriodicalId":7986,"journal":{"name":"Annals of Biomedical Engineering","volume":" ","pages":""},"PeriodicalIF":5.4,"publicationDate":"2026-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147809867","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Femur Fracture Risk Assessment in Patients with Lytic Metastases Using CT-Based Finite Element Models and Bone Crack Simulations Technique.","authors":"Davide Bentivoglio, Cristina Curreli, Barbara Dozza, Anna Mammone, Elisa Bruatto, Laura Campanacci, Antonino Amedeo La Mattina","doi":"10.1007/s10439-026-04144-3","DOIUrl":"https://doi.org/10.1007/s10439-026-04144-3","url":null,"abstract":"<p><strong>Purpose: </strong>Femoral bone metastases represent a frequent and severe complication in patients with advanced solid tumours. Although fracture risk assessment commonly relies on Mirels' score, its limited specificity often leads to unnecessary surgical interventions. Patient-specific finite element (FE) models have shown improved accuracy; however, current approaches vary widely in methodology and rarely capture the full fracture process. This study investigates for the first time the application of a linear FE approach based on an incremental element deletion technique to simulate both fracture initiation and propagation in femurs with lytic metastases.</p><p><strong>Methods: </strong>Twenty-four patients with femoral lytic lesions were retrospectively analyzed, and model outcomes were compared with clinical results. The proposed approach was evaluated for its ability to stratify patients according to pathological fracture risk, in comparison with conventional simulation methods and the clinically accepted Mirels' score. In addition, a new failure threshold parameter derived from the work required to fracture the femur was investigated.</p><p><strong>Results: </strong>The simulations successfully replicated clinically observed fracture paths and demonstrated strong capability in differentiating high- and low-risk patients. The failure criterion based on the last applied load during simulated crack propagation provided the highest diagnostic performance, achieving excellent sensitivity and specificity. The fracture initiation parameter showed comparable performance, while the work-based parameter appeared more affected by variability in femur visibility.</p><p><strong>Conclusion: </strong>The proposed modeling framework offers the advantage of predicting fracture paths, providing clinically valuable insight, and represents a further step toward improved stratification methods for the clinical management of femoral metastases.</p>","PeriodicalId":7986,"journal":{"name":"Annals of Biomedical Engineering","volume":" ","pages":""},"PeriodicalIF":5.4,"publicationDate":"2026-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147809902","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Adaptive Knowledge Distillation for Anatomical Segmentation in Pelvic CT Imaging of Prostate Cancer.","authors":"Ridvan Karataş, Burak Demir, Aydin Kaya, Elgin Özkan, Nuriye Özlem Küçük","doi":"10.1007/s10439-026-04151-4","DOIUrl":"https://doi.org/10.1007/s10439-026-04151-4","url":null,"abstract":"<p><strong>Purpose: </strong>Accurate delineation of the prostate and surrounding pelvic structures is critical to successful treatment planning, accurate identification, and staging of prostate cancer. Segmentation of anatomically complex regions surrounding the prostate in CT imaging can be challenging due to low soft-tissue contrast and complex boundary delineations. In this work, we investigate three complementary paradigms of knowledge distillation-voxel-level, region-level, and a dynamically weighted combination of the two-to improve segmentation performance for the prostate and parailiac regions.</p><p><strong>Methods: </strong>The region-level approach imposes the semantic coherence of network predictions via the region-wise contrastive form of supervision, whereas the voxel-level distillation provides fine-tuned supervision in terms of Kullback-Leibler divergence on soft probabilistic outputs. We introduce a novel fusion approach that adds uncertainty-aware dynamic weighting, thus allowing the model to adjust the contribution of every distillation loss in an adaptive manner during training, taking advantage of the strengths of both approaches. The distillation methods are implemented within the dual-network architecture in terms of VNet (Milletari et al. in Proc. Int. Conf. 3D Vis. (3DV):565-571, 2016) and 3D-ResVNet (Wang et al. in Proc. IEEE/CVF Conf. Comput. Vis. Pattern Recognit. (CVPR)), thus allowing synergistic learning of different architectural biases.</p><p><strong>Results: </strong>Experimental results on both an in-house collected and annotated CT dataset of prostate cancer patients-where parailiac regions and the prostate gland (including seminal vesicles) are manually segmented-and three public benchmark datasets demonstrate that each individual distillation method consistently improves segmentation accuracy over baseline models. These results indicate that the effectiveness of the proposed distillation strategies generalizes across different datasets and anatomical structures, highlighting their robustness and practical applicability.</p><p><strong>Conclusion: </strong>Complementary supervision at voxel and region levels can improve the delineation of complex pelvic structures in CT imaging of prostate cancer.</p>","PeriodicalId":7986,"journal":{"name":"Annals of Biomedical Engineering","volume":" ","pages":""},"PeriodicalIF":5.4,"publicationDate":"2026-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147832490","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"MitraNav: Design and Modeling of a Robotic System for Transseptal Mitral Valve Replacement with Dock Catheter Task-Space Control.","authors":"Weizhao Wang, Zhenguan Tu, Jiyu Cai, Shuangyi Wang, Richard J Housden, Kawal Rhode","doi":"10.1007/s10439-026-04154-1","DOIUrl":"https://doi.org/10.1007/s10439-026-04154-1","url":null,"abstract":"<p><strong>Purpose: </strong>Transcatheter mitral valve replacement (TMVR) is a promising therapy for reducing mitral regurgitation in select patients. Direct tip control of multi-segment catheters can simplify manipulation and enable precise, stable positioning. This paper introduces MitraNav, the first robotic system developed for dock-based TMVR, focusing on system design and task-space control of the dock catheter.</p><p><strong>Methods: </strong>Built on a previously validated guide-sheath robot, MitraNav is upgraded to support concentric multi-catheter manipulation via a unified actuation mechanism. It suits both dock and balloon catheters, enabling all catheter manipulation using a single robotic system. A two-segment bending model maps joint space to task space through an intermediate configuration space. A two-stage control strategy is then applied: joint-space control allows for rapid approach to the mitral annulus, followed by task-space control for direct tip positioning. To improve accuracy and handle joint limits, the task-space controller incorporates Jacobian normalization to balance joint contributions, null-space optimization to regulate joint motion without affecting the primary task, and a PD controller to reduce tracking errors.</p><p><strong>Results: </strong>Trajectory-following experiments demonstrate feasibility of direct tip control, with maximum errors of 2.38 mm, 2.53 mm, and 2.46 mm in three trials. These positional errors are within the range of acceptable accuracy commonly considered for catheter-based cardiac interventions.</p><p><strong>Conclusion: </strong>MitraNav represents the foundation for intuitive catheter manipulation and offers the potential for semi-autonomous robotic dock-based TMVR.</p>","PeriodicalId":7986,"journal":{"name":"Annals of Biomedical Engineering","volume":" ","pages":""},"PeriodicalIF":5.4,"publicationDate":"2026-05-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147809903","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}