Passive haptic interface for robot-assisted endovascular catheterization

Master-slave vascular interventional surgical robots reduce surgeon's exposure to radiation during procedures. However, the master-slave structure keeps the surgeon away from the patient, the surgeon loses the sense of haptics while manipulating the robot, and the surgeon's sense of surgical presence is reduced. To solve this problem, we have developed a master robot with haptic feedback. The surgeon manipulates the master robot without changing the traditional surgical manipulation posture, and the magnetorheological fluid-based haptic interface generates passive haptic feedback to the surgeon. Magnetic field simulation analysis is used to optimize the parameters of the haptic interface. The haptic interface adopts a closed-loop control strategy based on the magnetic field-resistance prediction model, which uses the magnetic field information inside the device to complete the haptic force closed-loop control. The slave robot utilizes dual linear guides for precise delivery of catheters/guidewires. Experimentally verified that the developed master robot meets the surgeon's need for haptic feedback in vascular interventional procedures and has good applicability.