[Master manipulator of vascular intervention surgical robot based on haptic feedback]

The master manipulator is a crucial component in enabling interactive perception between the physician and the guidewire/catheter; however, the lack of real-time haptic feedback increases the difficulty of hand-eye coordination. This paper designed and developed a master manipulator for a vascular interventional surgery robot with haptic feedback to provide the physician with high-accuracy force feedback. Using a two-degree-of-freedom decoupling mechanism combining key transmission and bearings, the master manipulator captured the physician's push-pull and rotational actions accurately and synchronously. The haptic feedback module adopted dual-channel independent control: axial resistance was generated by three springs evenly distributed at 120° and driven by a linear motor, while circumferential resistance was produced directly by a brushed direct current motor. To enhance the fidelity and accuracy of force feedback, inherent friction within the mechanical structure was identified as a critical non-negligible factor. Consequently, a feedforward compensation strategy grounded in the Stribeck friction model was developed and implemented to proactively counteract friction forces. The performance of the axial force module and the circumferential torque module was evaluated, and the displacement acquisition resolutions reached 1 μm and 0.087 9°, respectively. The average error for axial force feedback was 0.11 N, and that for circumferential torque feedback was 0.154 mN·m. The master manipulator was constructed using a combination of custom 3D-printed photosensitive resin parts and machined aluminum alloy, resulting in a lightweight, low-friction structure. It provides an immersive force-interaction experience for the physician, improving operational precision and radiation safety in vascular interventional surgery and enabling coordinated "vision-hand-force perception".