Master-Slave Vascular Interventional Robot with Passive Haptic Feedback

摘要

In this paper, we propose a novel master-slave vascular interventional robot aimed at reducing the radiation exposure of interventionalists during endovascular procedures. The unique design of our robot enables surgeons to utilize their traditional interventional skills seamlessly. On the master side, we incorporate haptic interfaces with magnetorheological fluids (MRF) and a magnetic flux guidance structure to offer passive haptic feedback along the operating catheter. This feature enhances the surgeon's tactile perception during the catheterization. Meanwhile, on the slave side, we utilize the current of the DC motor to estimate the contact force between the catheter and the vessel. Additionally, the bionic graspers imitate the natural movements of a surgeon's hand, while the friction wheel structure allows for the continuous delivery of the catheter/guidewire. We have also implemented different force feedback thresholds that enable the surgeon to perceive any changes in the resistance of the catheter within the vessel during the insertion procedure. To validate the effectiveness of the robotic system, we conduct evaluation experiments in vitro. The results indicate that the catheter-based haptic force feedback can provide an immersive operating experience during the endovascular procedure. Compared to this robot, the joystick operation robot requires the surgeons to learn new methods to control, so our robot reduces the cognitive workload of the surgeons.