Force feedback controls of multi-gripper robotic endovascular intervention: design, prototype, and experiments.
Force feedback
Multi-grippers
Robotic endovascular intervention
Telepresence
Journal
International journal of computer assisted radiology and surgery
ISSN: 1861-6429
Titre abrégé: Int J Comput Assist Radiol Surg
Pays: Germany
ID NLM: 101499225
Informations de publication
Date de publication:
Jan 2021
Jan 2021
Historique:
received:
28
05
2020
accepted:
06
10
2020
pubmed:
23
10
2020
medline:
29
5
2021
entrez:
22
10
2020
Statut:
ppublish
Résumé
Robotic endovascular intervention system (REIS) has the advantages of telemanipulation without radiation damage, precise location, and isolation of hand quiver. However, current REIS lacks a force feedback, which leads to high clinical risks. For the high operational safety of remote operations, this research proposes a force feedback control method for a novel manipulator with multi-grippers and develops a prototype to verify its expected telepresence. A high-resolution force sensor is used to acquire and transmit the intervention resistance force to the control handle. When the handle is translated or rotated, a loading mechanism composed of a servomotor, a screw pair, a spring, and friction roller generates the resistance force transmitted to the doctor's hand through the handle. A force/displacement hybrid control and PID control algorithm are used for the smaller feedback force error and lower delay. This manipulator and its control handle are tested in the simulated catheter and vascular cases. The experiments show that force feedback precision can reach 0.05 N and the delay is not more than 50 ms, and the bandwidth is 9 Hz@-3 dB. The proposed force feedback method can recreate resistance force from the intervention devices. The control model is valid with higher precision and wide bands, which has laid foundations to the application of REIS in clinic.
Identifiants
pubmed: 33089435
doi: 10.1007/s11548-020-02278-w
pii: 10.1007/s11548-020-02278-w
doi:
Types de publication
Journal Article
Langues
eng
Sous-ensembles de citation
IM
Pagination
179-192Subventions
Organisme : Science and Technology Commission of Shanghai Municipality
ID : 18441900500
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