A Novel Master–Slave Interventional Surgery Robot with Force Feedback and Collaborative Operation

Abstract

In recent years, master–slave vascular robots have been developed to address the problem of radiation exposure during vascular interventions for surgeons. However, the single visual feedback reduces surgeon immersion and transparency of the system. In this work, we have developed a haptic interface based on the magnetorheological fluid (MRF) on the master side. The haptic interface can provide passive feedback force with high force fidelity and low inertia. Additionally, the manipulation of the master device does not change the operating posture of traditional surgery, which allows the surgeon to better adapt to the robotic system. For the slave robot, the catheter and guidewire can be navigated simultaneously which allows the two degrees of action on the catheter and axial action of a guidewire. The resistance force of the catheter navigation is measured and reflected to the user through the master haptic interface. To verify the proposed master–slave robotic system, the evaluation experiments are carried out in vitro, and the effectiveness of the system was demonstrated experimentally.

Design and evaluation of a wearable vascular interventional surgical robot system

“…During interventional surgery, in addition to the guidance of medical imaging, it is also necessary to measure the delivery resistance of the guidewire and construct haptic force feedback to assist doctors in determining whether the front end of the guidewire touches the blood vessel wall. 2,25 Therefore, a force feedback control method based on velocity-force mapping is proposed. The master end forms an active driving system through a servo motor and torque sensor, which is used to sense the propulsion force applied by the doctor.…”