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.

中文翻译：

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多爪机械手血管内介入的力反馈控制：设计，原型和实验

目的

机器人血管内介入系统（REIS）的优点是遥控操作，不会造成辐射损伤，位置精确和手颤抖。然而，当前的REIS缺乏力反馈，这导致高临床风险。为了实现远程操作的高操作安全性，本研究提出了一种用于新型带多爪机械手的力反馈控制方法，并开发了一种原型来验证其预期的远程呈现。

方法

高分辨率力传感器用于获取干预阻力并将其传递到控制手柄。当手柄平移或旋转时，由伺服电机，螺丝对，弹簧和摩擦辊组成的加载机构会产生通过手柄传递到医生手的阻力。力/位移混合控制和PID控制算法用于较小的反馈力误差和较低的延迟。

结果

该操纵器及其控制手柄在模拟导管和血管情况下进行了测试。实验表明，力反馈精度可达0.05 N，延迟不超过50 ms，带宽为9 Hz @ -3 dB。

结论

所提出的力反馈方法可以从介入装置重建阻力。该控制模型具有较高的精度和带宽，是有效的，为REIS在临床中的应用奠定了基础。