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Related Experiment Video

Updated: Jul 7, 2025

Haptic/Graphic Rehabilitation: Integrating a Robot into a Virtual Environment Library and Applying it to Stroke Therapy
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Development of an Intuitive Interface With Haptic Enhancement for Robot-Assisted Endovascular Intervention.

Wenke Duan, Zihao Li, Olatunji M Omisore

    IEEE Transactions on Haptics
    |December 25, 2023
    PubMed
    Summary

    This study introduces a novel haptic-enabled robot for endovascular interventions, improving surgeon

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    Related Experiment Videos

    Last Updated: Jul 7, 2025

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    Area of Science:

    • Medical Robotics
    • Surgical Technology
    • Biomedical Engineering

    Background:

    • Robot-assisted endovascular interventions offer reduced surgeon radiation exposure but require precise tool manipulation and safety perception.
    • Current systems lack crucial haptic feedback, hindering accurate control and safety during vessel cannulation.
    • Surgeons' ability to perceive tool-tissue interaction forces is vital for successful and safe endovascular procedures.

    Purpose of the Study:

    • To develop a haptic-enabled robot for endovascular interventions.
    • To enhance surgeon's ability to manipulate endovascular tools and perceive safety.
    • To improve the precision and safety of robot-assisted procedures through advanced haptic feedback.

    Main Methods:

    • Development of a custom-built haptic interface using magnetic powder brakes.
    • Implementation of a dynamic hysteresis compensation model to address non-linearity.
    • Integration of a human perceptual-based haptic enhancement model and safety strategy.

    Main Results:

    • The developed haptic interface provides high-precision, high dynamic range force feedback.
    • The hysteresis compensation model effectively manages non-linearity in the haptic system.
    • The integrated haptic enhancement model improved surgeons' discrimination of subtle interaction forces.

    Conclusions:

    • The haptic-enabled robot significantly enhances transparency in robot-assisted endovascular interventions.
    • The system promotes improved safety awareness for surgeons during procedures.
    • This technology has the potential to improve outcomes and safety in endovascular interventions.