Research On Force Feedback Controller Of Interventional Robot Based On Pneumatic Drive

Aiming at the problem that the operation mode of the master controller does not comply with the traditional surgical habits, the traditional surgical experience cannot be applied, and some of the master controllers cannot provide both axial and circumaxial tactile feedback information during operation, a two-degree of freedom interventional robot master controller with the function of force feedback and the use of traditional surgical experience is designed. Its structure is compact and easy to carry. The master controller collects the motion information of the doctor’s hand through displacement sensor and encoder, and realizes tactile feedback reproduction in axial and circumferential directions through pneumatic drive and motor drive. In addition, a primary force feedback control system was built. The displacement detection and force feedback performance of the primary controller were evaluated through experiments. The experiment results indicate that the master controller designed in this paper can achieve motion control of the catheter and provide tactile feedback information according to the resistance of the catheter.