An interventional surgical robot system with force feedback

Abstract

The interventional surgery is a kind of minimally invasive treatment. To achieve the real-time diagnosis and strengthen the doctor operation sense of reality and the operation efficiency, the accurate control of force feedback plays an important role. Based this, we utilize the Phantom Omni as the master manipulator and construct the master-slave robot system with the force feedback closed-loop control. We put forward tracking control strategy and realtime force feedback control strategy. By measuring the proximal guide wire force and the force between the surgeon's hand and the handle used on the Phantom, the force feedback closed-loop control can effectively eliminate the loss of mechanical impedance of force feedback information. And the novel interventional surgical robot system will simulate the procedure of the doctor's hand to operate the guide wire, and providing haptic feedback to the doctor. In this paper, the experimental results show that the accuracy control of force feedback is greatly enhanced in the aspect of security and the operation efficiency.