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A novel SEA-based haptic force feedback master hand controller for robotic endovascular intervention system. 2020

Kundong Wang, and Ximing Mai, and Haijin Xu, and Qingsheng Lu, and Weiwu Yan
Department of Instrument Science and Engineering, Shanghai Jiao Tong University, Shanghai, China.

Robotic Endovascular Intervention System (REIS) has been a focused and interesting area in robot-assisted telesurgery. While, haptic feedback is the latest advancing study in interventional robots. Few systems with haptic feedback are commercialized due to accuracy, instantaneity, and the lack of surgeon previous experience on interventional surgery. In this article, a novel haptic force feedback master hand controller system is proposed to solve the problems. A SEA (Series Elastic Actuators)-based mechanism is designed to provide feedback force with high force/torque fidelity, low impedance, and inertia. Also, the handle of the mechanism is similar to the catheter, making the surgeon operate the telesurgery with his experience. The control model of the system is built, and PID algorithms are explored to realize the motion control. PID parameters are optimized for fast response time and stability. The experiments and results demonstrate that the master hand controller system has maximum feedback force relative error of 3%, instantaneity of 0.89 second and tracking performance of 9 Hz frequency 3 dB bandwidth.

UI MeSH Term Description Entries
D004867 Equipment Design Methods and patterns of fabricating machines and related hardware. Design, Equipment,Device Design,Medical Device Design,Design, Medical Device,Designs, Medical Device,Device Design, Medical,Device Designs, Medical,Medical Device Designs,Design, Device,Designs, Device,Designs, Equipment,Device Designs,Equipment Designs
D005246 Feedback A mechanism of communication within a system in that the input signal generates an output response which returns to influence the continued activity or productivity of that system. Feedbacks
D006225 Hand The distal part of the arm beyond the wrist in humans and primates, that includes the palm, fingers, and thumb. Hands
D006801 Humans Members of the species Homo sapiens. Homo sapiens,Man (Taxonomy),Human,Man, Modern,Modern Man
D055595 Mechanical Phenomena The properties and processes of materials that affect their behavior under force. Mechanical Concepts,Mechanical Processes,Mechanical Phenomenon,Mechanical Process,Concept, Mechanical,Concepts, Mechanical,Mechanical Concept,Phenomena, Mechanical,Phenomenon, Mechanical,Process, Mechanical,Processes, Mechanical
D065287 Robotic Surgical Procedures Surgical procedures performed remotely using a computer that controls surgical instruments attached to mechanical arms designed to perform the tasks of the surgeon. Robot Surgery,Robot-Assisted Surgery,Robot-Enhanced Procedures,Robot-Enhanced Surgery,Robotic-Assisted Surgery,Surgical Procedures, Robotic,Procedure, Robot-Enhanced,Procedure, Robotic Surgical,Procedures, Robotic Surgical,Robot Assisted Surgery,Robot Enhanced Procedures,Robot Enhanced Surgery,Robot Surgeries,Robot-Assisted Surgeries,Robot-Enhanced Procedure,Robot-Enhanced Surgeries,Robotic Assisted Surgery,Robotic Surgical Procedure,Robotic-Assisted Surgeries,Surgery, Robot,Surgery, Robot-Assisted,Surgery, Robot-Enhanced,Surgery, Robotic-Assisted,Surgical Procedure, Robotic

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