## 1 Introduction  
Conventional vascular intervention (VI) procedures are used to diagnose and treat diseases of the vascular system with the aid of catheters, guidelines, and various interventional devices, such as balloons and stents, with minimal incisions. These procedures require the use of imaging guidance methods, such as fluoroscopy, computed tomography (CT), magnetic resonance imaging (MRI), and other imaging modalities. Angiography, embolization, and angioplasty are the most frequently performed vascular interventional procedures worldwide [1, 2, 3, 4, 5, 6]. During conventional VI procedures, both patients and doctors are exposed to large amounts of radiation from CT or X-rays. Such exposure has a detrimental effect on human health. For example, radiation exposure can cause skin damage, which can potentially lead to carcinogenesis as the radiation damage from repeated VI procedures accumulates [7]. Radiation dose limits for individuals subjected to occupational exposure are regulated by the international commission on radiation protection (ICRP). According to the ICRP 103 recommendations [8], the effective dose limit for radiation workers is 50 mSv per year; moreover, an additional recommendation is an effective dose limit of less than 20 mSv per year on average over five years. To prevent occupational radiation exposure,radiation workers wear radiation protectors in the form of aprons, collars, glasses, and gloves. However, they may become physically fatigued owing to the weight of the apron. Moreover, as radiation protection gloves are used minimally during surgical procedures in the operating room, exposure doses on the hands are still high [2]. To overcome these shortcomings, remote operations using master/slave robotic systems are needed for VI procedures to minimize radiation exposure. Many research groups have developed VI robotic systems, such as the remote-controlled robotic system [9], VI surgical robot [10], CorPath GRX robotic system [11], Magellan robotic system [12], stereotaxis system, sensei robotic system [13], and COAST guidewire robot [14]. The effectiveness and feasibility of these developed VI robotic systems have been verified through numerous clinical trials for various VI procedures. The main goal of developing the VI robotic system is to reduce the radiation exposure that occurs in the VI procedure, control the precise movement of the surgical tool, and reduce the physical fatigue of the doctor. [PERSON] et al. [9] and [PERSON] et al. [10] demonstrate in vitro experiments, both systems have elaborated manipulating surgical tool using force feedback. In the clinical trials of the CorPath GRX robotic system, percutaneous coronary intervention with manipulation of coronary guidewires was conducted on eight patients. The performance of the robotic system was evaluated and reported to be equal to or better than that in the case of the manual procedure [15]. Since the release of the first clinical report of the Hansen Sensei Robotic system in endovascular abdominal aortic aneurysm repair [16], the Magellan robotic system with six French catheter systems has been used to conduct more complicated procedures such as fenestrated endovascular aneurysm repair [17] or thoracic endovascular aortic repair. Clinical trials for thoracic aortic repair using the Magellan robotic system have shown significantly less cerebral embolization when compared to that in the case of manual techniques in 11 patients [18]. The study concluded that due to its active maneuverability, control, and stability, the robotic system is likely to reduce contact with the atheromatous aortic arch wall, thereby resulting in less cerebral embolization. However, these robots face limitations when operating with only catheters and guidewires. Robots with catheter and guidewire drives are suitable for cardiovascular interventions targeting large vessels. However, it is difficult to use these robots for procedures targeting microvascular lines.