An MR Fluid based Master Manipulator of the Vascular Intervention Robot with Haptic Feedback

Traditional interventional procedures result in prolonged exposure to X-rays due to the surgeon manipulates the catheter directly. The Vascular Interventional Robot System stands out in the field of cardiovascular surgery with its master-slave structure, which frees the surgeon from the radiology room to provide a safe and comfortable operating environment. However, the limitations of the robot structure and remote operation will somewhat alter the traditional manipulation methods of the physician. This paper presents a novel robotic system platform capable of generating immersive proximity haptics for safe surgical procedures while applying traditional intubation methods. The master robot is used to collect information about the hand movements of the physician intervention, and it has an internally integrated haptic interface based on magnetorheological (MR) fluid for generating resistance feedback. Experimental results show that operating a MR fluid-based vascular robot can provide haptic feedback to the surgeon and improve surgical safety and efficiency.