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An Ergonomic Master Haptic Interface for the Robot-assisted Endovascular Catheterization System

For most existing robot-assisted endovascular catheterization systems, the master interface takes the shape of a joystick or a haptic device, therefore potentially altering the natural behavior and motion patterns of physicians. Furthermore, existing studies on effective haptic feedback with robot-assisted endovascular catheterization system have been very limited. To address these issues, the paper proposes an MR fluids-based master haptic interface. The input catheter was utilized as the joystick, hence the physician can apply conventional motions (advance, retreat and rotate) on this interface. Meanwhile, the passive resistance force will be generated during the operating. The VeSEL (vertical-cavity surface-emitting laser) was used to measure the linear and rotational displacement of input catheter. The radial motion of the input catheter is detected by the hollow encoder. It was found that the mean accuracy of axial motion is 0.04 mm (precision, ±0.05 mm) for 100 mm length of advancing and retracting. And the considerable range of generated passive resistance force is from 28 mN to 1206 mN.