Performance Evaluation of a Collaborative Vascular Interventional Robot in Glass Blood Vessel

Robot-assisted vascular minimally surgery (VIS) always has significant values of medical application and commercial exploitation to accomplish purposes of assisting the surgeon operation and improving the surgical safety. We developed a novel collaborative vascular interventional robot in our recent study. Two types of independent operating handles and magnetically controlled haptic feedback were used on master side. This kind of robot has multiple operating modes due to the collaborative design. This paper shows the structure of master device, introduces the achieving mechanism of haptic feedback, and analyzes collaborative operating mechanisms. The performance of this robot was evaluated by comparative experiments in a glass blood vessel with dissimilar environments. Experimental results indicate that the developed collaborative vascular interventional robot has good display in glass blood vessel with and without simulated blood. This study also has potential influence and reference value for the design and development of co-operating robots in the field of master-slave robotics.