A Proximal Push Force-based Force Feedback Algorithm for Robot-assisted Vascular Intervention Surgery

The accuracy control of force feedback is an important factor to improve the real-time and accuracy of the vascular interventional master-slave robot manipulation, it plays a more and more important role in the aspect of strengthening the doctor operation sense of reality and the operation efficiency. In this paper, according to the lack of precision problem of the force feedback, we construct the master-slave robot force feedback closed-loop control system. We put forward the real-time force feedback control strategy. And a new handle structure used on the Phantom has been designed. 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. By simulating the insertion of the guide wire, the real values of the force feedback from the slave are compared with the actual values of the force feedback in the master. And the simulant vascular insertion operation experiments have confirmed the advantages of the accuracy control of force feedback. The experimental results show that the accuracy control of force feedback is greatly enhanced in the aspect of reality and the operation efficiency during the doctor operation process.