A Two-channel Haptic Force Interface for Endovascular Robotic Systems

Endovascular robotic systems are being developed to avoid radiation damage for surgeons and increase the accuracy of surgical operations. However, due to physically separated between operator and environment, intuitive haptic force feedback needs to be implemented to provide immersive operation for surgeon. In this paper, a two-channel haptic force interface is designed for endovascular robotic system. Through using a cylinder-based force generator and a torque generator based on magnetorheological fluid (MRF), the designed haptic force interface can realize the linear force feedback and torque feedback respectively. Two experiments have been done to calibrate the presented haptic force interface. The results showed that the designed haptic force interface has the potential using in the master console as well as training simulator for non-experience surgeon.