High precise haptic device for the robotic catheter navigation system

摘要

A study on haptic feedback of the master side for an interventional surgical robot system plays a critical important role in the master-slave vascular interventional surgery robot system with haptic feedback, and accuracy control of force feedback is an important means to improve accuracy of the vascular interventional surgery robot teleoperation. Focus on the problem of lacking haptic feedback and accurate control of force feedback in the master-slave interventional surgical robot system, we designed a novel operation control handle in the master, a more in line with the operation of human engineering during the operation process. It can not only get the haptic feedback information from the operation control handle effectively, but also realize the precise force feedback control of the master-slave vascular intervention surgical robot system. The theoretical analysis and the corresponding experimental verification clearly demonstrated that the doctors' operation on the master side is more real and more precise feeling the force feedback information, and effectively improves precision of the master-slave manipulation. The final results show that the accuracy control of force feedback was greatly enhanced in the aspect of reality and the operation efficiency during the doctor operation process.