Compensatory force measurement and multimodal force feedback for remote-controlled vascular interventional robot.

Area of Science:

• Medical Robotics
• Vascular Surgery
• Surgical Simulation

Background:

• Minimally invasive vascular interventional surgery is common.
• Remote-controlled vascular interventional surgery robots (RVIRs) aim to reduce physician occupational risks.
• Current RVIRs lack accurate force feedback, hindering surgeon performance and potentially causing medical accidents or vessel damage.

Purpose of the Study:

• To develop a novel method for accurate proximal force measurement in RVIRs.
• To improve surgeon's ability to distinguish force changes and avoid exceeding blood vessel safety thresholds.
• To enhance safety and efficacy in minimally invasive vascular interventions.

Main Methods:

• Development of a novel method incorporating compensatory force measurement.
• Implementation of multimodal force feedback (MFF).
• Conducting calibration and performance evaluation experiments.

Main Results:

• The proposed method accurately measures the proximal force of catheter/guidewire.
• Surgeons are better assisted in distinguishing proximal force changes.
• Experimental results validate the effectiveness of the new approach.

Conclusions:

• The novel compensatory force measurement and MFF method enhances accuracy in RVIRs.
• This approach helps surgeons better manage forces, preventing blood vessel damage.
• The method is suitable for application in actual surgical operations.