In vascular interventional surgery, experienced physicians rely on proximal force sensing to detect the collision and reduce vascular injury caused by surgical tools. However, in robot-assisted tele-interventional surgery (RATIS), providing high-precision force feedback to physician is still a main challenge. In this paper, a haptic robot-assisted catheter operating system with a novel spring-based haptic force interface was developed. With a closed loop force adjustment system, the haptic force interface can provide accuracy force feedback. Moreover, a collision protection function with a proximal-force-based collision detection algorithm was proposed to improve surgical safety. In case of no collision, transparency of the teleoperated system is realized; in case of collision, the provided haptic force will be amplified. The results demonstrated the usability of the developed haptic robot-assisted catheter operating system with collision protection function.
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