Vascular Robot Handle with Force Feedback Mechanism
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Solution Overview
Problem
Current operating handles for vascular intervention robots fail to effectively relay the resistance encountered by the guidewire/catheter during procedures to the surgeon, lacking realistic simulation and precise force feedback, which complicates surgical precision and safety.
Innovation Solution
The proposed operating handle incorporates a sliding guide rail, a fixing base plate, a connecting rod, a pressure sensing device, a rotary driving device, and a linear motor to replicate the surgeon's actions and provide real-time resistance feedback, featuring a film-type pressure sensor, rotary slip ring, and strain gauges for precise control and feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If touchscreen control mode is used to control the vascular intervention robot, then the virtual keys can control the robot to advance or rotate the guidewire/catheter, but the surgeon loses the ability to sense resistance feedback and surgical presence
Solution Approach 1:
The operating handle incorporates a force feedback mechanism that transmits resistance forces from the distal end of the guidewire/catheter back to the surgeon's hand through the handle. This feedback loop allows the surgeon to sense the resistance encountered during guidewire advancement, restoring the lost tactile information while maintaining the benefits of robotic control.
Solution Approach 2:
The operating handle acts as an intermediary device between the surgeon and the robotic system. It translates the surgeon's manual operations into robotic commands while simultaneously transmitting force feedback from the robotic system back to the surgeon, serving as a bidirectional communication channel that preserves surgical presence.
2Ease of operation
If an operating handle based on real guidewire/catheter system is used, then the handle can replicate surgeon's hand motions, but it still cannot relay the contact force of the guidewire/catheter inside the blood vessel to the surgeon
Solution Approach 1:
The force feedback mechanism measures the contact forces and resistance at the distal end of the guidewire/catheter and transmits this information back to the surgeon through the operating handle. This allows the surgeon to feel the resistance encountered during procedures, providing complete force feedback while maintaining motion replication.
3Extent of automation
If existing operating handles are used, then the controller can issue motion instructions to the distal robot, but the resistance encountered by the guidewire/catheter cannot be relayed to the surgeon
Solution Approach 1:
The operating handle integrates force sensing and feedback mechanisms that capture resistance information from the distal end and transmit it back to the surgeon. This feedback capability complements the existing automated motion control, allowing the system to both issue commands and relay tactile information bidirectionally.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution allows for precise replication of surgical actions with high control precision, providing real-time resistance feedback to the surgeon, enhancing surgical presence and safety with low manufacturing costs and ease of production.
Implementation Method 1
a linear motor (11)
Implementation Method 2
a strain gauge (10)
Implementation Method 3
a pressure sensing device
Data Source
Figure 1~2
Figure 3
AI summary
The present disclosure provides an operating handle with feedback of guidewire/catheter advancement resistance for a vascular intervention robot. The operating handle includes a sliding guide rail (12), a fixing base plate (13), a connecting rod (4), an operation rod (14), a pressure sensing device, a rotary driving device, and a linear motor (11). The rotary driving device, the sliding guide rail (12), and a stator of the linear motor (11) are arranged on the fixing base plate (13). The pressure sensing device and a rotor of the linear motor (11) are connected with the sliding guide rail (12) through a slider and are able to reciprocate along the sliding guide rail (12). The connecting rod (4) has one end provided with the operation rod (14) and the other end connected with the rotor of the linear motor (11) through a strain gauge (10). The connecting rod (4) passes through the pressure sensing device and the rotary driving device in sequence. The operating handle of the present disclosure can relay the contact force of a front-end guidewire/catheter during an advancing process in real time to a surgeon's hand in the form of resistance, so as to provide the surgeon with a better sense of presence. In addition, the operating handle of the present disclosure features high control precision and low manufacturing difficulty and cost.