Abstract
To satisfy the needs of surgeons for judging the contact state of the catheter robot and modify the operation accordingly, a novel contact torque estimation and haptic feedback method is proposed in this article. Using the vibrotactile feedback, the proposed method reminds the surgeon which bending unit of the robot contacts with human tissue and guides him to realize the disengagement. Based on a novel simplification of the driving force of the robot, a quasi-statics model is established to estimate the contact torque. Simulations are conducted based on Finite Element Method (FEM) to verify the accuracy of the quasi-statics model and the estimation method. A robot system composed of a catheter robot, a PC, a master-operator, and a wearable vibration glove is assembled according to this method. To verify the feasibility of this method, a contact torque estimation experiment and a vibrotactile feedback experiment are conducted in this article. The results show that this method is accurate and effective.
Highlights
In the traditional interventional surgery, the surgeon relies on the hand feeling to control the movement, detect the contact between the catheter robot and the natural lumen of human body, and avoid obstacle by experience
A contact torque estimation and haptic feedback method is proposed to satisfy the needs of surgeons to judge the contact state of the catheter robot and modify the operation
The surgeon wears a wearable vibrotactile device, gets the vibrotactile feedback as a haptic feedback, and controls the movement of the catheter robot through the master-operator according to the feedback
Summary
In the traditional interventional surgery, the surgeon relies on the hand feeling to control the movement, detect the contact between the catheter robot and the natural lumen of human body, and avoid obstacle by experience. The contact torque of each bending unit is estimated according to the output torque and motion of motors based on the quasi-statics model of the catheter robot established in this article and substituted by the vibration to feedback to surgeon by a wearable haptic device. The mapping relation between the driving space and the joint space is shown in equations (3) and (4) According to this mapping relation, the joint variables of the catheter robot can be calculated; according to the output motion of the actuation unit, the overall shape and posture can be obtained . The equivalent force of the load is shown in equation (12)
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