Design And Evaluation Of A Novel Force Feedback-based Master Manipulator For The Robot-assisted Vascular Interventional Surgery System

In recent years,nearly 17 million people suffering from cardiovascular and cerebrovascular disease a year,it has become serious diseases threaten human life and health.With the science and technology development,treatment methods also in gradually upgrade,but it still exists some problems,such as the surgeon operates the surgery with hands in conventional Vascular Interventional Surgery(VIS),which need the surgeons exposed to X-ray radiation with long time.To solve the issues in related researches,this paper introduced a novel force feedback master manipulator for the robot-assisted vascular interventional surgery system.To solve the problem of the force feedback precision low in operating system,a novel haptic-based master manipulator for the robot-assisted vascular interventional surgery system was designed in this paper.This project is based on electromagnetic induction principle to design a novel force feedback structure on master side.The master manipulator allows doctors to operate a real catheter,which can make full use of the doctor's skills got in the traditional vascular interventional surgery to improve safety of operation.To solve axial movement information precision low by line displacement sensor measurement in the operating system,the paper proposed the photoelectric coding device instead of line displacement sensor to measurement movement information,and using of orthogonal decoding chip formed four times frequency,then the rotation angle of photoelectric coding device was converted to forward and backward displacement.The slave side of operation system is actually delivered catheter to the patient during the whole surgery.Side wall and the tip of the catheter had installed the force detection device to provide force feedback information.This paper mainly introduces a novel force feedback master manipulator for the robot-assisted vascular interventional surgery system,evaluated and verified the force feedback system,according the experiments,the result shows the maximum error is less than 6 mN;Finally,we tested the stability of the synchronous movement to verify stability and accuracy of the system,the maximum error of the axial tracking is less than 1.6 mm,and the maximum error of the radial tracking is less than 3.6 degree,the result shows the performance of the synchronous tracking is stability.