A Novel Master Haptic Interface Based on MR-Fluids for Endovascular Catheterization

• Main Authors: Zhang, Linshuai, Fan, Jingjing, Gu, Shuoxin, Lei, Tiaotiao, Tang, Wenshan, Xu, Weidong, Guo, Shuxiang
• Format: Conference Proceeding
• Language: English
• Subjects: Endovascular catheterization; Fingers; Fluids; Force; Force feedback; Friction; Magnetorheological fluids; Master haptic interface; Safe operation; Surgery; Tactile sensors; Vascular interventional surgery
• ISSN: 2152-744X
• DOI: 10.1109/ICMA54519.2022.9856008

Insufficient force feedback and collision warning of teleoperation surgical tools increase the risk of endovascular catheterization. This paper proposed a novel master haptic interface that takes advantage of a surgeon's natural manipulation skills obtained through experience, as well as generates collision warning with haptic cues to ensure safe operation. Moreover, it can eliminate the influence of external friction on the haptic force. Aiming at the Bingham model of the damper with the longest research time and the most widely used, a Simulink mechanical simulation model was built. The perception power provided by the tactile feedback device at the main end of the vascular interventional surgery robot was simulated and related mechanics tests were carried out. The results show that the designed tactile feedback device can provide a tactile force for the surgeons during the operation. It verifies the mechanical properties of the MR fluid damper for vascular interventional surgery. The device can give surgeons real haptic feedback during vascular interventional surgery to distinguish whether the catheter tip collides with blood vessels or not by collision warning with haptic cues, thus achieving the goal of safe operation.