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A Novel Master-Slave Interventional Surgery Robot with Force Feedback and Collaborative Operation.

Yu Song¹, Liutao Li¹, Yu Tian¹

¹Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems, School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin 300384, China.

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|April 13, 2023

Summary

This summary is machine-generated.

This study introduces a novel master-slave vascular robotic system featuring a magnetorheological fluid (MRF) haptic interface. The system enhances surgeon immersion and control during vascular interventions by providing realistic force feedback.

Keywords:

haptic interface magnetorheological fluid (MRF)vascular intervention robot

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Area of Science:

Medical Robotics
Surgical Technology
Biomedical Engineering

Background:

Surgeons face radiation exposure during vascular interventions.
Existing master-slave vascular robots lack sufficient sensory feedback, reducing surgeon immersion and system transparency.

Purpose of the Study:

To develop an advanced master-slave vascular robotic system with enhanced haptic feedback.
To improve surgeon immersion and control during minimally invasive vascular procedures.

Main Methods:

Developed a master haptic interface using magnetorheological fluid (MRF) for passive force feedback with high fidelity and low inertia.
Designed a slave robot capable of simultaneous catheter and guidewire manipulation with two degrees of freedom for the catheter and axial guidewire control.
Integrated a system to measure catheter navigation resistance and reflect it to the surgeon via the master haptic interface.

Main Results:

The MRF-based haptic interface provides high-fidelity, low-inertia force feedback.
The master device maintains a traditional surgical posture, facilitating surgeon adaptation.
The slave robot enables simultaneous, multi-DOF control of catheter and guidewire.
In vitro experiments demonstrated the effectiveness and feasibility of the proposed master-slave robotic system.

Conclusions:

The developed master-slave vascular robotic system with an MRF haptic interface significantly improves surgeon immersion and control.
This system offers a promising solution for reducing radiation exposure while enhancing the safety and efficacy of vascular interventions.