Characteristics Evaluation of the Vascular Interventional Surgery Robot in the Simulated Vascular Environment

This paper proposed a novel master-slave catheter robotic system with force feedback for Vascular Interventional Surgery (VIS). The master side of the doctor feedback force was achieved by the principle of electromagnetic induction. It used an incremental photoelectric encoder to detect axial and radial motion information of the master side. Load cell was used to detect force information on the slave side. Besides, we also set up a circulating peristaltic pump to simulate the fluid environment. According to the blood flow velocity parameters of the human body, we set the velocity of the peristaltic pump, and the force feedback experiment and the master-slave tracking experiment were completed. Experimental results showed that with the increase of the fluid velocity, the tracking error and force feedback error of the master side and the slave side would increase obviously, but the errors were within the allowable range, which indicated that the catheter robotic system has good force feedback and motion tracking performance.