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A Magnetorheological Fluid Based Force Feedback Master Robot for Vascular Interventional Surgery

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Abstract

Teleoperated robot system has been adopted in interventional surgeries like cardiac or cerebrovascular diagnoses and treatments. However, it brings confusion and difficulty to surgeons due to the lack of intuitive force feedback from master robot in teleoperated surgeries. In this paper, a force feedback master robot based on magnetorheological fluid dampers is devised to render transparent force feedback to operator. This robot is featured with accurate and fast force regeneration. Force feedback is derived from small scale dampers in this robot, and these dampers are designed with two advantages, high torque accuracy and fast torque response. Different from other work, magnetic reluctance, magnetic field intensity, and low inertia were specially considered during the design of the magnetorheological fluid based damper. A magnetic field simulation verified the correctness of our magnetic field design and model. In addition, an accurate torque model and compensation model for the damper incorporating factors from magnetic field and mechanical property of magnetorheological fluid were proposed. Then, the dampers were manufactured and a prototype of master device was assembled . A series of experiments demonstrated that the damper had superior torque accuracy and fast response time. Thus, this force feedback master robot has a remarkable potential for the vascular interventional surgery.

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The data shown in the figures are available from the authors upon request. Other datasets were not generated or analyzed during the current study.

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Funding

This work was supported by the National Natural Science Foundation of China (62133009, 61973211, 51911540479, M-0221), the Project of Shanghai Science and Technology Commission (21550714200, 20DZ2220400), the Project of Institute of Medical Robotics of Shanghai Jiao Tong University.

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Authors and Affiliations

  1. The Institute of Forming Technology & Equipment, Shanghai Jiao Tong University, Shanghai, 200030, China

    Zheng Liu, Shuang Wang, Fan Feng & Le Xie

  2. Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, 200030, China

    Zheng Liu, Shuang Wang, Fan Feng & Le Xie

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  1. Zheng Liu
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  2. Shuang Wang
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  3. Fan Feng
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  4. Le Xie
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Contributions

Zheng Liu and Shuang Wang designed the study. Shaung Wang and Fan Feng conducted the experiments. Zheng Liu and Le Xie analyzed the data and wrote the paper. Shuang Wang and Fan Feng reviewed and edited the manuscript. All authors read and approved the manuscript.

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Correspondence to Le Xie.

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Liu, Z., Wang, S., Feng, F. et al. A Magnetorheological Fluid Based Force Feedback Master Robot for Vascular Interventional Surgery. J Intell Robot Syst 106, 20 (2022). https://doi.org/10.1007/s10846-022-01716-y

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