Operating force information on-line acquisition of a novel slave manipulator for vascular interventional surgery

  • Yan Zhao
  • Shuxiang GuoEmail author
  • Nan XiaoEmail author
  • Yuxin Wang
  • Youxiang Li
  • Yuhua Jiang


Vascular interventional surgery has its advantages compared to traditional operation. Master-slave robotic technology can further improve the operation accuracy, efficiency and safety of this complicated and high risk surgery. However, on-line acquisition of operating force information of catheter and guidewire remains to be a significant obstacle on the path to enhancing robotic surgery safety. Thus, a novel slave manipulator is proposed in this paper to realize on-line sensing of guidewire torsional operating torque and axial operation force during robotic assisted operations. A strain sensor is specially designed to detect the small scale torsional operation torque with low rotational frequency. Additionally, the axial operating force is detected via a load cell, which is incorporated into a sliding mechanism to eliminate the influence of friction. For validation, calibration and performance evaluation experiments are conducted. The results indicate that the proposed operation torque and force detection device is effective. Thus, it can provide the foundation for enabling accurate haptic feedback to the surgeon to improve surgical safety.


Vascular interventional surgery Robot-assisted surgery Slave manipulator Operating force acquisition 



This research is partly supported by the National High Tech. Research and Development Program of China (No.2015AA043202), and National Natural Science Foundation of China (61375094, 61503028).


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Authors and Affiliations

  1. 1.Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, School of Life ScienceBeijing Institute of TechnologyBeijingChina
  2. 2.Faculty of EngineeringKagawa UniversityTakamatsuJapan
  3. 3.Department of Interventional Neuroradiology, Beijing Neurosurgical Institute and Beijing Tiantan HospitalCapital Medical UniversityBeijingChina

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