Force feedback controls of multi-gripper robotic endovascular intervention: design, prototype, and experiments
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ORIGINAL ARTICLE
Force feedback controls of multi-gripper robotic endovascular intervention: design, prototype, and experiments Kundong Wang1
· Jianyun Liu1 · Weiwu Yan2 · Qingsheng Lu3 · Shengdong Nie4
Received: 28 May 2020 / Accepted: 6 October 2020 © CARS 2020
Abstract Purpose Robotic endovascular intervention system (REIS) has the advantages of telemanipulation without radiation damage, precise location, and isolation of hand quiver. However, current REIS lacks a force feedback, which leads to high clinical risks. For the high operational safety of remote operations, this research proposes a force feedback control method for a novel manipulator with multi-grippers and develops a prototype to verify its expected telepresence. Methods A high-resolution force sensor is used to acquire and transmit the intervention resistance force to the control handle. When the handle is translated or rotated, a loading mechanism composed of a servomotor, a screw pair, a spring, and friction roller generates the resistance force transmitted to the doctor’s hand through the handle. A force/displacement hybrid control and PID control algorithm are used for the smaller feedback force error and lower delay. Results This manipulator and its control handle are tested in the simulated catheter and vascular cases. The experiments show that force feedback precision can reach 0.05 N and the delay is not more than 50 ms, and the bandwidth is 9 Hz@-3 dB. Conclusion The proposed force feedback method can recreate resistance force from the intervention devices. The control model is valid with higher precision and wide bands, which has laid foundations to the application of REIS in clinic. Keywords Robotic endovascular intervention · Force feedback · Telepresence · Multi-grippers
Introduction Robotic endovascular intervention (REI) has been developed for the past 10 years to avoid radiation damage and improve the surgical quality [1, 2]. Stereo Taxis, Corp. developed a magnetic navigation system to control the catheter tip through the external magnetic field [3]. Siemens Artis Zee Go is a novel robotic interventional imaging equipment,
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Kundong Wang [email protected] Qingsheng Lu [email protected]
1
Department of Instrument Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
2
Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China
3
Department of Vascular Surgery, Changhai Hospital, Shanghai 200433, China
4
School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
for depicting the visual complex anatomical structure of blood [4]. The CorPath 200 robotic system aimed to achieve teleoperation in endovascular surgery has been reported an FDA-approved commercial machine [5]. Thakur proposed a remote catheter system to realize synchronous master–slave manipulation [6, 7]. An REI with control master–slaver architecture was used with telemanipulation similar to the da Vinci surgical system. In this case, the REI architecture i
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