An Isomorphic Interactive Device for the Interventional Surgical Robot after In Vivo Study

Area of Science:

• Neurosurgery
• Robotics
• Surgical Technology

Background:

• Interventional surgical robots enhance neurosurgery safety and surgeon ergonomics.
• Surgeon feedback from preliminary in vivo experiments highlighted needs for improved master controllers.

Purpose of the Study:

• To propose an isomorphic interactive master controller for master-slave interventional surgical robots.
• To enhance surgeon skill utilization and safety in remote neurosurgical procedures.

Main Methods:

• Developed an isomorphic controller using catheter and guidewire as handles, mirroring clinical practice.
• Integrated linear force and torque feedback devices with eccentric force compensation for accurate sensory feedback.
• Conducted calibration, master-slave control performance, and comparative operational experiments.

Main Results:

• The novel controller demonstrated proficiency in complex remote surgical operations.
• Experimental results validated the controller's performance and potential for advanced applications.
• Accurate force feedback was achieved through eccentric force compensation.

Conclusions:

• The proposed isomorphic controller effectively supports remote interventional surgeries in neurosurgery.
• The controller's design facilitates intuitive operation and enhances surgical safety.
• Further evaluation in animal experiments is warranted to explore its full potential.