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A novel SEA-based haptic force feedback master hand controller for robotic endovascular intervention system.

Kundong Wang1, Ximing Mai1, Haijin Xu1

  • 1Department of Instrument Science and Engineering, Shanghai Jiao Tong University, Shanghai, China.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|April 20, 2020
PubMed
Summary

This study introduces a novel haptic feedback master hand controller for robotic endovascular intervention systems. The system enhances surgeon control and accuracy in telesurgery by providing realistic force feedback.

Keywords:
SEA-basedforce feedbackmaster hand controllerrobot-assisted tele-surgery

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Area of Science:

  • Robotics
  • Medical Engineering
  • Surgical Technology

Background:

  • Robotic Endovascular Intervention Systems (REIS) are advancing robot-assisted telesurgery.
  • Haptic feedback is crucial for interventional robots but commercialization is limited by accuracy, speed, and surgeon experience.
  • Existing systems often lack fidelity and intuitiveness for complex procedures.

Purpose of the Study:

  • To propose a novel haptic force feedback master hand controller for REIS.
  • To address limitations in accuracy, instantaneity, and surgeon experience in current systems.
  • To improve surgeon control and performance in robotic telesurgery.

Main Methods:

  • Designed a Series Elastic Actuators (SEA)-based mechanism for high force/torque fidelity, low impedance, and inertia.
  • Developed a control model and utilized PID algorithms for motion control.
  • Optimized PID parameters for enhanced response time and system stability.
  • Modeled the master hand controller's handle to mimic catheter manipulation for intuitive surgeon operation.

Main Results:

  • The proposed system achieved a maximum feedback force relative error of 3%.
  • Demonstrated high instantaneity with a response time of 0.89 seconds.
  • Exhibited robust tracking performance with a 9 Hz frequency and 3 dB bandwidth.

Conclusions:

  • The novel haptic force feedback master hand controller effectively enhances REIS.
  • The system overcomes key limitations, improving accuracy and surgeon intuitiveness.
  • This advancement holds significant potential for safer and more effective robotic telesurgery.