Robot-Assisted vs Manual Transradial Cerebral Angiography (RCT)

Comparison of Safety and Efficacy Between Robot-Assisted and Manual Transradial Cerebral Digital Subtraction Angiography: A Prospective Randomized Controlled Trial

This is a prospective, randomized controlled clinical trial designed to compare the safety and effectiveness of robot-assisted transradial cerebral angiography versus manual operation performed by experienced neurosurgeons. The study will be conducted at the Department of Neurosurgery, The First Hospital of Hebei Medical University, with a total sample size of 156 participants.

Why is this study being done? Cerebral angiography is a key diagnostic procedure for cerebrovascular diseases, such as stroke, aneurysm, and vascular malformation. Traditionally, it is performed manually by interventional physicians, who are exposed to significant radiation during the procedure. Robot-assisted technology offers a potential solution by allowing doctors to operate from a separate, shielded room, which could greatly reduce occupational radiation exposure. This study aims to verify whether robot-assisted transradial cerebral angiography is non-inferior to the standard manual approach in terms of safety and clinical success, while providing additional benefits for both patients and physicians.

Who can participate?

We plan to enroll 156 adult patients (aged 18-80 years) who meet the following criteria:

Stable vital signs and eligible for routine cerebral angiography Suspected intracranial vascular lesions or need for evaluation of intracranial mass blood supply, confirmed by CTA/MRA Positive Allen's test and adequate radial artery diameter (assessed by ultrasound) Able to provide informed consent Patients will be excluded if they have contrast allergy, require emergency angiography, have severe organ dysfunction, are pregnant or breastfeeding, or refuse robot-assisted procedures.

What will happen during the study?

After providing informed consent, eligible participants will be randomly assigned to one of two groups in a 1:1 ratio:

Robot-assisted group: Cerebral angiography will be performed using a dedicated cerebrovascular interventional robot system, with the physician operating from a remote, radiation-free room.

Manual control group: Cerebral angiography will be performed by experienced neurosurgeons using the standard manual technique.

During the procedure, researchers will record key metrics including:

Technical and clinical success rates of angiography Total procedure time and radiation exposure for both patients and physicians Incidence of perioperative and postoperative complications (e.g., vascular injury, hematoma, contrast reaction) Participants will be followed until hospital discharge or their next scheduled interventional treatment, during which all adverse events and complications will be carefully documented.

What are the potential risks and benefits?

Potential benefits:

Participants will receive high-standard cerebral angiography care, either via robot-assisted or manual operation, both of which are clinically approved methods.

The study results may help establish robot-assisted technology as a safe, effective alternative for cerebrovascular diagnosis, which could reduce physician radiation exposure and improve procedural precision in the future.

Potential risks:

Standard risks associated with cerebral angiography, including contrast allergy, vascular spasm, dissection, or puncture-site hematoma.

Very low risk of device-related complications, such as unintended robot movement, which will be mitigated by strict operator training and safety protocols.

How will the data be analyzed? All data will be analyzed using SAS 9.4 or later software. The primary analysis will use a non-inferiority design to compare the clinical success rate between the two groups. Secondary analyses will compare complication rates, radiation exposure, procedure duration, patient comfort, and surgeon satisfaction. All statistical tests will be two-sided, with a p-value ≤ 0.05 considered statistically significant.

This study is designed to provide robust evidence on the safety and efficacy of robot-assisted transradial cerebral angiography, with the ultimate goal of advancing minimally invasive cerebrovascular care and protecting healthcare workers from occupational radiation hazards.

Study Overview

• Status: Recruiting
• Conditions: Robot-assisted Therapy; Angiography, Digital Subtraction
• Intervention / Treatment: Device: Robot-assisted angiographic system; Procedure: Manual controlled transradial artery angiography

Detailed Description

1. Basic Study Information Study Title: Comparison of Safety and Efficacy between Robot-Assisted and Manual Transradial Cerebral Digital Subtraction Angiography: A Prospective Randomized Controlled Trial Sponsor: The First Hospital of Hebei Medical University, Hebei Hospital of Xuanwu Hospital Performing Department: Department of Neurosurgery, The First Hospital of Hebei Medical University Principal Investigator: Li Conghui Study Design: Single-center, prospective, non-inferiority, open-label randomized controlled trial with independent blinded endpoint adjudication and blinded data analysts
2. Study Objectives To systematically investigate the safety and efficacy of high-precision robot-assisted system for cerebral angiography via transradial approach, evaluate its operational accuracy, expand the application scenarios of cerebrovascular interventional surgical robots, provide precise and safe technical support for the diagnosis and treatment of cerebrovascular diseases, and promote the innovation and development of relevant high and new technologies.

3. Study Population Inclusion Criteria Aged 18 to 80 years, regardless of gender; Stable vital signs, eligible for routine cerebral digital subtraction angiography (DSA); Suspected intracranial vascular lesions (stenosis, aneurysm, malformation, etc.) by computed tomography angiography (CTA)/magnetic resonance angiography (MRA) requiring further confirmation, or need to clarify the blood supply of intracranial space-occupying lesions/qualification of tumors; Positive Allen's test; Ultrasound shows radial artery diameter >2.0 mm, or <2.0 mm but still eligible for transradial angiography as evaluated by senior physicians.

   Exclusion Criteria Patients with contrast medium allergy; Patients with acute hemorrhagic/ischemic cerebrovascular disease requiring emergency cerebral DSA, and patients with unstable acute stroke; Patients with severe vascular malformation/stenosis/occlusion, severe hepatic and renal insufficiency, severe hypertension/hypotension, severe infection, coagulation dysfunction, severe cardio-cerebro-pulmonary diseases, congestive heart failure; Pregnant/lactating women and women planning to become pregnant within 1 year; Patients clinically ineligible for cerebral DSA; Patients with fear of interventional robots and refusal of robot-assisted angiography.

   Sample Size: A total of 156 cases, 78 cases in the experimental group (robot-assisted group) and 78 cases in the control group (manual group) (74 cases per group in basic calculation, expanded considering a 5% loss rate).

4. Interventions Experimental Group: Robot-assisted transradial cerebral DSA (applying the "Cerebrovascular Interventional Surgery Assisted Operating System" developed by Yidu Medical, with full-process remote compartment operation); Control Group: Manual transradial cerebral DSA performed by experienced neurosurgeons.

5. Randomization and Blinding Randomization: Block randomization mode, led by an independent third party (Randomization Management Group, non-surgical/evaluation staff); clinical medical staff are only responsible for screening, informed consent and surgery implementation. After assigning a unique number to enrolled patients, the clinical research coordinator (CRC) completes random grouping, and grouping information is confidentially filed.

   Blinding: Blinded outcome assessors (CRF recorders not involved in surgery), blinded data analysts (groups coded as Group A/B during statistical analysis, decrypted after analysis); an emergency unblinding mechanism is established, unblinding is allowed in case of serious adverse events, and data are marked separately after unblinding.

6. Study Endpoints Primary Endpoints Technical success rate of intracranial major vascular angiography: Accurate positioning of target vessels for angiography with qualified image quality; Clinical success rate of intracranial major vascular angiography: Completion of angiography for at least 4 supra-aortic major arteries (bilateral common carotid arteries + bilateral subclavian arteries).

   Secondary Endpoints Incidence of various perioperative and postoperative complications; Total radiation dose received by patients and primary surgeons; Total duration of the entire angiography process, robot installation time, and single angiography duration of each intracranial vessel; Targeting accuracy of the operation; Patient satisfaction and comfort; Surgeon learning curve; Cost-effectiveness analysis.

7. Study Risks and Benefits Benefits Expand the application scope of robots and improve patients' surgical comfort; Clarify the accuracy and reliability of robot-assisted transradial angiography, achieving a success rate comparable to manual angiography; Reduce occupational radiation damage to physicians and realize robot-assisted remote compartment "zero-radiation" operation.

   Risks Routine risks of cerebral DSA: Cardiac events, cerebrovascular events, adverse reactions to contrast medium, vascular rupture/thrombosis/spasm/dissection, puncture site hematoma/pseudoaneurysm, etc.; Very low probability of device-related risk: Vascular injury caused by unintended movement of the robot.

8. Follow-up Plan Pre-enrollment Visit: Demographic statistics, recording of concomitant medications, safety examinations (pregnancy test, vital signs, routine blood test, hepatic and renal function, four coagulation tests, electrocardiogram), verification of inclusion and exclusion criteria; Intraoperative Visit: Recording of angiography success rate, each time node, total duration, adverse events, concomitant medications; Postoperative Visit: Follow-up until patient discharge or before the next cerebrovascular interventional treatment, recording of perioperative and postoperative complications, adverse events, concomitant medications.
9. Statistical Analysis Software: SAS version 9.4 and above; Test Criterion: Two-sided test, P ≤ 0.05 is considered statistically significant; Analysis Populations: Full Analysis Set (per intention-to-treat principle), Per-Protocol Set, Safety Analysis Set; Analysis Methods: Quantitative indicators are expressed as mean ± standard deviation/median (interquartile range), analyzed by t-test/Mann-Whitney U test; categorical indicators are expressed as number/percentage, analyzed by Chi-square test/Fisher's exact test; interim analysis (safety rules) and subgroup analysis (complex anatomy, surgeon experience) are set; sensitivity analysis for missing data is performed by worst/best-case scenario method and multiple imputation method.
10. Trial Termination Criteria Occurrence of serious safety events; Major errors in the study protocol/serious deviations in implementation, making it impossible to evaluate efficacy; Poor efficacy/defects of the study device with no clinical value; Termination requested by the sponsor; Trial revoked by the administrative department.

• Study Type: Interventional
• Enrollment (Estimated): 156
• Phase: Not Applicable

Contacts and Locations

• Study Contact: Name: Conghui Li, PhD; Phone Number: +8618633889708; Email: 13363880072@163.com
• Study Contact Backup: Name: Xiangyu Meng, PhD; Email: mengyu629@126.com

Study Locations

• China
  • Hebei
    • Shijiazhuang, Hebei, China, 050000
      • Recruiting
      • The First Hospital of Hebei Medical University
      • Contact: Xiangyu Dr.Meng, Doctor; Phone Number: +86-18810676276; Email: Mengyu629@126.com

Participation Criteria

Eligibility Criteria

• Ages Eligible for Study: Adult; Older Adult
• Accepts Healthy Volunteers: No

Description

Inclusion Criteria:

• Aged 18 to 80 years, regardless of gender;
• Stable vital signs, eligible for routine cerebral digital subtraction angiography (DSA);
• Suspected intracranial vascular lesions (stenosis, aneurysm, malformation, etc.) by computed tomography angiography (CTA)/magnetic resonance angiography (MRA) requiring further confirmation, or need to clarify the blood supply of intracranial space-occupying lesions/qualification of tumors;
• Positive Allen's test;
• Ultrasound shows radial artery diameter >2.0 mm, or <2.0 mm but still eligible for transradial angiography as evaluated by senior physicians.

Exclusion Criteria:

• Patients with contrast medium allergy;
• Patients with acute hemorrhagic/ischemic cerebrovascular disease requiring emergency cerebral DSA, and patients with unstable acute stroke;
• Patients with severe vascular malformation/stenosis/occlusion, severe hepatic and renal insufficiency, severe hypertension/hypotension, severe infection, coagulation dysfunction, severe cardio-cerebro-pulmonary diseases, congestive heart failure;
• Pregnant/lactating women and women planning to become pregnant within 1 year;
• Patients clinically ineligible for cerebral DSA;
• Patients with fear of interventional robots and refusal of robot-assisted angiography.

Study Plan

How is the study designed?

Design Details

• Primary Purpose: Diagnostic
• Allocation: Randomized
• Interventional Model: Parallel Assignment
• Masking: Double

Number of Arms

2

Arms and Interventions

Participant Group / Arm	Intervention / Treatment
Experimental: Robot-assisted transradial angiography; Cerebral angiography will be performed using a dedicated cerebrovascular interventional robot system, with the physician operating from a remote, radiation-free room.	Device: Robot-assisted angiographic system; Cerebral angiography will be performed using a dedicated cerebrovascular interventional robot system, with the physician operating from a remote, radiation-free room.
Active Comparator: Manual control transradial angiography; Cerebral angiography will be performed by experienced neurosurgeons using the standard manual technique.	Procedure: Manual controlled transradial artery angiography; Cerebral angiography will be performed by experienced neurosurgeons using the standard manual technique.

What is the study measuring?

Primary Outcome Measures

Outcome Measure	Measure Description	Time Frame
Technical success rate	Technical success rate of intracranial major vascular angiography: Accurate positioning of target vessels for angiography with qualified image quality;	Perioperative/Periprocedural
Clinical success rate	Clinical success rate of intracranial major vascular angiography: Completion of angiography for at least 4 supra-aortic major arteries (bilateral common carotid arteries + bilateral subclavian arteries).	Perioperative/Periprocedural

Secondary Outcome Measures

Outcome Measure	Measure Description	Time Frame
perioperative and postoperative complications	Incidence of various perioperative and postoperative complications;	Perioperative/Periprocedural
Radiation dose	Total radiation dose received by patients and primary surgeons;	Perioperative/Periprocedural
Time Period	Total duration of the entire angiography process, robot installation time, and single angiography duration of each intracranial vessel;	Perioperative/Periprocedural
Follow-up until patient discharge	Follow-up until patient discharge or before the next cerebrovascular interventional treatment, recording of perioperative and postoperative complications, adverse events, concomitant medications.	Perioperative/Periprocedural

Collaborators and Investigators

• Sponsor: The First Hospital of Hebei Medical University

Study record dates

Study Major Dates

• Study Start (Actual): November 30, 2025
• Primary Completion (Estimated): September 30, 2028
• Study Completion (Estimated): September 30, 2029

Study Registration Dates

• First Submitted: March 25, 2026
• First Submitted That Met QC Criteria: July 6, 2026
• First Posted (Actual): July 10, 2026

Study Record Updates

• Last Update Posted (Actual): July 10, 2026
• Last Update Submitted That Met QC Criteria: July 6, 2026
• Last Verified: January 1, 2026

More Information

Terms related to this study

• Other Study ID Numbers: 2026-003

Plan for Individual participant data (IPD)

• Plan to Share Individual Participant Data (IPD)?: NO

Drug and device information, study documents

• Studies a U.S. FDA-regulated drug product: No
• Studies a U.S. FDA-regulated device product: No