Force Feedback-based Robotic Catheter Training System for the Vascular Interventional Surgery

Virtual catheter training system is a typical application of Virtual reality(VR) technology in the medical field. Doctors must operate catheters through experience accurately in traditional minimally invasive surgery(MIS) to ensure the safety of the operation. In order to improve the operation skills we proposed the force feedback-based robotic catheter training system. In this paper, we can obtain force feedback through the catheter with CyberGlove. We established the high precise 3D model, and then we set up the mapping relationship between CyberGlove and the virtual hand, realizing the human-computer interaction. Based on the previous work, we created a virtual environment completed the collision detection and force feedback. In addition, the relevant verification experiment confirmed that the virtual environment makes surgery more immersive, the experimental result proved this system could simulate the real force feedback process, and the feedback force is 0.619N when the biggest variable value is 0.5mm.