Force feedback controls of multi-gripper robotic endovascular intervention: design, prototype, and experiments

Area of Science:

• Robotics
• Medical Engineering
• Control Systems

Background:

• Current robotic endovascular intervention systems (REIS) lack crucial force feedback, increasing clinical risks during remote operations.
• Telemanipulation in REIS offers advantages like reduced radiation exposure and enhanced precision but is limited by the absence of tactile sensation.

Purpose of the Study:

• To propose and develop a force feedback control method for a novel multi-gripper manipulator in REIS.
• To enhance the operational safety and telepresence capabilities of robotic endovascular interventions.

Main Methods:

• Utilized a high-resolution force sensor to capture and transmit intervention resistance forces to a control handle.
• Implemented a loading mechanism with a servomotor, screw pair, spring, and friction roller for tactile feedback.
• Employed a force/displacement hybrid control and PID control algorithm to minimize feedback error and delay.

Main Results:

• Force feedback precision reached 0.05 N, with a delay not exceeding 50 ms.
• The system demonstrated a bandwidth of 9 Hz@-3 dB in simulated catheter and vascular tests.
• The manipulator and control handle successfully recreated resistance forces during experimental trials.

Conclusions:

• The developed force feedback method effectively recreates resistance forces, validating its precision and wide bandwidth.
• This advancement lays a crucial foundation for the clinical application of REIS.
• The enhanced system promises improved safety and efficacy in remote endovascular procedures.