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Updated: Jan 18, 2026

Haptic/Graphic Rehabilitation: Integrating a Robot into a Virtual Environment Library and Applying it to Stroke Therapy
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Passive haptic interface for robot-assisted endovascular catheterization.

Yu Song1, Yu Tian1, Liutao Li1

  • 1The School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin, 300384, China.

Medical & Biological Engineering & Computing
|May 26, 2025
PubMed
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This study introduces a novel master robot with haptic feedback for vascular interventional surgery. It restores the surgeon's sense of touch, enhancing surgical presence and precision during robotic procedures.

Area of Science:

  • Robotics
  • Medical Engineering
  • Surgical Technology

Background:

  • Master-slave surgical robots minimize surgeon radiation exposure.
  • Current systems lack haptic feedback, reducing surgeon's sense of presence and touch.
  • This gap limits the effectiveness of robotic-assisted vascular interventions.

Purpose of the Study:

  • To develop a master robot with integrated haptic feedback for vascular interventional surgery.
  • To restore the surgeon's tactile sensation during robotic manipulation.
  • To enhance surgical presence and precision in minimally invasive procedures.

Main Methods:

  • Developed a master robot incorporating a magnetorheological fluid-based haptic interface.
  • Utilized magnetic field simulation analysis for haptic interface parameter optimization.
Keywords:
Magnetorheological fluidTactile interfaceVascular intervention robot

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  • Implemented a closed-loop control strategy using a magnetic field-resistance prediction model for haptic force control.
  • The slave robot features dual linear guides for precise catheter/guidewire delivery.

    • Main Results:

    • The developed master robot successfully provides passive haptic feedback to the surgeon.
    • Magnetic field simulation optimized the haptic interface parameters.
    • The closed-loop control strategy effectively managed haptic force.
    • Experimental verification confirmed the system meets surgeon needs for haptic feedback.

    Conclusions:

    • The novel master robot with haptic feedback significantly improves the surgical experience in vascular interventions.
    • Restoring tactile sensation enhances surgeon's control and presence.
    • The developed system shows good applicability and potential for advancing robotic surgery.