Design and experimental verification of a novel master manipulator with force feedback for vascular interventional robot

The vascular interventional robot adopts master-slave control mode, which is used to reduce the operating burden, protect the health of doctors, and thus improve the safety and accuracy of surgery. In this paper, a novel master manipulator with feedback is designed. It uses the film pressure sensor as the trigger signal to complete the long-distance delivery of surgical instruments through intermittent delivery. In addition, the design of the master manipulator conforms to the operating habits of doctors, and the appropriate size allows doctors to complete the operation task with only their fingers. The results show that the average error between the force feedback of the master manipulator and the doctor's force perception is only 0.3N. The doctors' mastery of surgery is improved. This means that compact structure of this novel master manipulator helps doctors make better use of clinical experience. In summary, the master manipulator with force feedback in this paper meets the requirements of surgical operation and ensures the safety of surgery.