Master manipulator of vascular intervention surgical robot based on haptic feedback_Journal of Biomedical Engineering

Authors：

HAN Guowei ,  SUN Zhijun , TANG Xiongfeng

State Key Laboratory of Mechanics and Control for Aerospace Strutures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, P. R. China;

Corresponding?author：

SUN Zhijun, Email: meezjsun@nuaa.edu.cn

Keywords：

Vascular interventional surgery robot; Haptic feedback; Force feedback accuracy; Friction compensation; Master manipulator

DOI：

10.7507/1001-5515.202509070

Video：

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Abstract Full text Figures/Tables Video References Cited by

The master manipulator is a crucial component in enabling interactive perception between the physician and the guidewire/catheter; however, the lack of real-time haptic feedback increases the difficulty of hand–eye coordination. This paper designed and developed a master manipulator for a vascular interventional surgery robot with haptic feedback to provide the physician with high-accuracy force feedback. Using a two-degree-of-freedom decoupling mechanism combining key transmission and bearings, the master manipulator captured the physician’s push–pull and rotational actions accurately and synchronously. The haptic feedback module adopted dual-channel independent control: axial resistance was generated by three springs evenly distributed at 120° and driven by a linear motor, while circumferential resistance was produced directly by a brushed direct current motor. To enhance the fidelity and accuracy of force feedback, inherent friction within the mechanical structure was identified as a critical non-negligible factor. Consequently, a feedforward compensation strategy grounded in the Stribeck friction model was developed and implemented to proactively counteract friction forces. The performance of the axial force module and the circumferential torque module was evaluated, and the displacement acquisition resolutions reached 1 μm and 0.087 9°, respectively. The average error for axial force feedback was 0.11 N, and that for circumferential torque feedback was 0.154 mN·m. The master manipulator was constructed using a combination of custom 3D-printed photosensitive resin parts and machined aluminum alloy, resulting in a lightweight, low-friction structure. It provides an immersive force-interaction experience for the physician, improving operational precision and radiation safety in vascular interventional surgery and enabling coordinated “vision–hand–force perception”.

Citation： HAN Guowei, SUN Zhijun, TANG Xiongfeng. Master manipulator of vascular intervention surgical robot based on haptic feedback. Journal of Biomedical Engineering, 2026, 43(1): 79-86. doi: 10.7507/1001-5515.202509070 Copy

1.	國家心血管病中心. 中國心血管健康與疾病報告 2024 概要. 中國循環雜志, 2025, 40(6): 521-559.
2.	皇志慧. 沉浸交互式血管介入手術機器人及力反饋技術研究. 上海: 上海大學, 2019.
3.	王鑒, 高翔, 張峰, 等. 血管介入機器人輔助介入治療研究現狀. 介入放射學雜志, 2023, 32(6): 619-623.
4.	趙含霖, 謝曉亮, 奉振球, 等. 血管介入手術機器人系統綜述. 中國醫療設備, 2020, 35(12): 11-16.
5.	劉龍, 曹彤, 劉達, 等. 主從式血管介入系統的力反饋實現. 高技術通訊, 2014, 24(5): 545-550.
6.	Bao X Q, Guo S X, Yang C, et al. Haptic interface with force and torque feedback for robot-assisted endovascular catheterization. IEEE/ASME Trans Mechatr, 2023, 29(2): 11-25.
7.	Shi P, Guo S, Zhang L, et al. Design and evaluation of a haptic robot-assisted catheter operating system with collision protection function. IEEE Sensors J, 2021, 21(18): 20807-20816.
8.	董兆苒, 董明利, 何彥霖, 等. 血管介入手術導絲末端檢測方法研究. 儀器儀表學報, 2023, 44(2): 221-229.
9.	Zhao Y, Guo S, Xiao N, et al. A novel sensing system of catheter/guidewire operation for vascular interventional surgery// 2017 IEEE International Conference on Mechatronics and Automation (ICMA). Takamatsu: IEEE, 2017: 416-421.
10.	Zhao D, Guo S, Lyu C, et al. A novel clamping mechanism design for vascular interventional surgery robot// 2022 IEEE International Conference on Mechatronics and Automation (ICMA). Guilin: IEEE, 2022: 1842-1847.
11.	賴德偉. 面向微創血管介入手術機器人從操作手的傳感技術開發. 天津: 天津大學, 2022.
12.	Saliba W, Cummings J E, Oh S, et al. Novel robotic catheter remote control system: feasibility and safety of transseptal puncture and endocardial catheter navigation. J Cardiovasc Electrophysiol, 2006, 17(10): 1102-1105.
13.	Di Biase L, Wang Y, Horton R, et al. Ablation of atrial fibrillation utilizing robotic catheter navigation in comparison to manual navigation and ablation: Single‐center experience. J Cardiovasc Electrophysiol, 2009, 20(12): 1328-1335.
14.	Saliba W, Reddy V Y, Wazni O, et al. Atrial fibrillation ablation using a robotic catheter remote control system: initial human experience and long-term follow-up results. J Am Coll Cardiol, 2008, 51(25): 2407-2411.
15.	Kanagaratnam P, Koa-Wing M, Wallace D T, et al. Experience of robotic catheter ablation in humans using a novel remotely steerable catheter sheath. J Interv Card Electrophysiol, 2008, 21(1): 19-26.
16.	Smilowitz N R, Weisz G. Robotic-assisted angioplasty: current status and future possibilities. Curr Cardiol Rep, 2012, 14(5): 642-646.
17.	Weisz G, Metzger D C, Caputo R P, et al. Safety and feasibility of robotic percutaneous coronary intervention: PRECISE (Percutaneous Robotically-Enhanced Coronary Intervention) Study. J Am Coll Cardiol, 2013, 61(15): 1596-1600.
18.	Granada J F, Delgado J A, Uribe M P, et al. First-in-human evaluation of a novel robotic-assisted coronary angioplasty system. JACC Cardiovasc Interv, 2011, 4(4): 460-465.
19.	Carrozza Jr J P. Robotic-assisted percutaneous coronary intervention—Filling an unmet need. J Cardiovasc Transl Res, 2012, 5(1): 62-66.
20.	Lo N, Gutierrez J A, Swaminathan R V. Robotic-assisted percutaneous coronary intervention. Curr Treat Options Cardiovasc Med, 2018, 20(2): 14.
21.	Payne C J, Rafii-Tari H, Yang G Z. A force feedback system for endovascular catheterisation// 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vilamoura-Algarve: IEEE, 2012.
22.	Zhao D, Guo S, Lyu C, et al. A portable surgeon’s habits-based master manipulator for vascular interventional surgery robots// 2023 IEEE International Conference on Mechatronics and Automation (ICMA). Harbin: IEEE, 2023: 1888-1893.
23.	Guo J, Jin X, Guo S, et al. A vascular interventional surgical robotic system based on force-visual feedback. IEEE Sensors J, 2019, 19(23): 11081-11089.
24.	Yin X, Guo S, Yue C, et al. A haptic catheter operating system using magnetorheological fluids// 2014 IEEE International Conference on Mechatronics and Automation. Tianjin: IEEE, 2014: 1631-1636.
25.	奉振球, 侯增廣, 邊桂彬, 等. 微創血管介入手術機器人的主從交互控制方法與實現. 自動化學報, 2016, 42(5): 696-705.
26.	Wang T, Zhang D, Da L. Remote‐controlled vascular interventional surgery robot. Int J Med Robot Comput Assist Surg, 2010, 6(2): 194-201.
27.	Da L, Liu D. Accuracy experimental study of the vascular interventional surgical robot propulsive mechanism// 2011 IEEE/ICME International Conference on Complex Medical Engineering. Harbin: IEEE, 2011: 412-416.
28.	羅彪, 曹彤, 和麗, 等. 血管介入手術機器人推進機構設計及精度研究. 高技術通訊, 2010, 20(12): 1281-1285.
29.	Feng Z-Q, Bian G-B, Xie X-L, et al. Design and evaluation of a bio-inspired robotic hand for percutaneous coronary intervention// 2015 IEEE International Conference on Robotics and Automation (ICRA). Seattle: IEEE, 2015.
30.	Jian G, Shuxiang G, Nan X, et al. Development of force sensing systems for a novel robotic catheter system//2012 IEEE International Conference on Robotics and Biomimetics (ROBIO). Guangzhou: IEEE, 2012: 2213-2218.
31.	Dagnino G, Liu J, Abdelaziz M E, et al. Haptic feedback and dynamic active constraints for robot-assisted endovascular catheterization//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid: IEEE, 2018: 1770-1775.
32.	鄭炬炬, 孫志峻, 閆鶴, 等. 運用中空超聲電機的血管介入手術機器人系統. 振動測試與診斷, 2021, 41(5): 976-983,1037-1038.
33.	王濤. 微創手術機器人力反饋主手系統研究. 哈爾濱: 哈爾濱工業大學, 2020.
34.	齊智斌, 郭聯龍, 蘭帥航, 等. 基于改進 Stribeck 模型的伺服系統摩擦補償研究. 微電機, 2024, 57(8): 20-25.
35.	彭健德. 基于 Stribeck 模型結合模糊濾波的柔性伺服系統摩擦補償策略研究. 深圳: 深圳大學, 2023.
36.	傅平, 謝朝陽. 基于改進 Stribeck 模型的超聲波電機力矩-速度遲滯特性研究. 振動與沖擊, 2024, 43(15): 269-276.
37.	Phillips J R. An Integrated Stribeck Friction Model: analysis, simulation, and comparison with Dahl and LuGre. Simulation, 2025, 101(4): 477-491.
38.	方群玲, 孫虎兒, 劉維雄. 不同載荷下滑塊軸承潤滑狀態的 Stribeck 曲線研究. 機械傳動, 2016, 40(1): 124-126.
39.	馮浩, 姜金葉, 宋倩玉, 等. 電液伺服系統摩擦參數辨識與補償控制. 振動測試與診斷, 2024, 44(5): 922-927, 1037-1038.
40.	Hwang S W, Lim M S, Hong J P. Hysteresis torque estimation method based on iron-loss analysis for permanent magnet synchronous motor. IEEE Trans Magn, 2016, 52(7): 1-4.

1. 國家心血管病中心. 中國心血管健康與疾病報告 2024 概要. 中國循環雜志, 2025, 40(6): 521-559.
2. 皇志慧. 沉浸交互式血管介入手術機器人及力反饋技術研究. 上海: 上海大學, 2019.
3. 王鑒, 高翔, 張峰, 等. 血管介入機器人輔助介入治療研究現狀. 介入放射學雜志, 2023, 32(6): 619-623.
4. 趙含霖, 謝曉亮, 奉振球, 等. 血管介入手術機器人系統綜述. 中國醫療設備, 2020, 35(12): 11-16.
5. 劉龍, 曹彤, 劉達, 等. 主從式血管介入系統的力反饋實現. 高技術通訊, 2014, 24(5): 545-550.
6. Bao X Q, Guo S X, Yang C, et al. Haptic interface with force and torque feedback for robot-assisted endovascular catheterization. IEEE/ASME Trans Mechatr, 2023, 29(2): 11-25.
7. Shi P, Guo S, Zhang L, et al. Design and evaluation of a haptic robot-assisted catheter operating system with collision protection function. IEEE Sensors J, 2021, 21(18): 20807-20816.
8. 董兆苒, 董明利, 何彥霖, 等. 血管介入手術導絲末端檢測方法研究. 儀器儀表學報, 2023, 44(2): 221-229.
9. Zhao Y, Guo S, Xiao N, et al. A novel sensing system of catheter/guidewire operation for vascular interventional surgery// 2017 IEEE International Conference on Mechatronics and Automation (ICMA). Takamatsu: IEEE, 2017: 416-421.
10. Zhao D, Guo S, Lyu C, et al. A novel clamping mechanism design for vascular interventional surgery robot// 2022 IEEE International Conference on Mechatronics and Automation (ICMA). Guilin: IEEE, 2022: 1842-1847.
11. 賴德偉. 面向微創血管介入手術機器人從操作手的傳感技術開發. 天津: 天津大學, 2022.
12. Saliba W, Cummings J E, Oh S, et al. Novel robotic catheter remote control system: feasibility and safety of transseptal puncture and endocardial catheter navigation. J Cardiovasc Electrophysiol, 2006, 17(10): 1102-1105.
13. Di Biase L, Wang Y, Horton R, et al. Ablation of atrial fibrillation utilizing robotic catheter navigation in comparison to manual navigation and ablation: Single‐center experience. J Cardiovasc Electrophysiol, 2009, 20(12): 1328-1335.
14. Saliba W, Reddy V Y, Wazni O, et al. Atrial fibrillation ablation using a robotic catheter remote control system: initial human experience and long-term follow-up results. J Am Coll Cardiol, 2008, 51(25): 2407-2411.
15. Kanagaratnam P, Koa-Wing M, Wallace D T, et al. Experience of robotic catheter ablation in humans using a novel remotely steerable catheter sheath. J Interv Card Electrophysiol, 2008, 21(1): 19-26.
16. Smilowitz N R, Weisz G. Robotic-assisted angioplasty: current status and future possibilities. Curr Cardiol Rep, 2012, 14(5): 642-646.
17. Weisz G, Metzger D C, Caputo R P, et al. Safety and feasibility of robotic percutaneous coronary intervention: PRECISE (Percutaneous Robotically-Enhanced Coronary Intervention) Study. J Am Coll Cardiol, 2013, 61(15): 1596-1600.
18. Granada J F, Delgado J A, Uribe M P, et al. First-in-human evaluation of a novel robotic-assisted coronary angioplasty system. JACC Cardiovasc Interv, 2011, 4(4): 460-465.
19. Carrozza Jr J P. Robotic-assisted percutaneous coronary intervention—Filling an unmet need. J Cardiovasc Transl Res, 2012, 5(1): 62-66.
20. Lo N, Gutierrez J A, Swaminathan R V. Robotic-assisted percutaneous coronary intervention. Curr Treat Options Cardiovasc Med, 2018, 20(2): 14.
21. Payne C J, Rafii-Tari H, Yang G Z. A force feedback system for endovascular catheterisation// 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vilamoura-Algarve: IEEE, 2012.
22. Zhao D, Guo S, Lyu C, et al. A portable surgeon’s habits-based master manipulator for vascular interventional surgery robots// 2023 IEEE International Conference on Mechatronics and Automation (ICMA). Harbin: IEEE, 2023: 1888-1893.
23. Guo J, Jin X, Guo S, et al. A vascular interventional surgical robotic system based on force-visual feedback. IEEE Sensors J, 2019, 19(23): 11081-11089.
24. Yin X, Guo S, Yue C, et al. A haptic catheter operating system using magnetorheological fluids// 2014 IEEE International Conference on Mechatronics and Automation. Tianjin: IEEE, 2014: 1631-1636.
25. 奉振球, 侯增廣, 邊桂彬, 等. 微創血管介入手術機器人的主從交互控制方法與實現. 自動化學報, 2016, 42(5): 696-705.
26. Wang T, Zhang D, Da L. Remote‐controlled vascular interventional surgery robot. Int J Med Robot Comput Assist Surg, 2010, 6(2): 194-201.
27. Da L, Liu D. Accuracy experimental study of the vascular interventional surgical robot propulsive mechanism// 2011 IEEE/ICME International Conference on Complex Medical Engineering. Harbin: IEEE, 2011: 412-416.
28. 羅彪, 曹彤, 和麗, 等. 血管介入手術機器人推進機構設計及精度研究. 高技術通訊, 2010, 20(12): 1281-1285.
29. Feng Z-Q, Bian G-B, Xie X-L, et al. Design and evaluation of a bio-inspired robotic hand for percutaneous coronary intervention// 2015 IEEE International Conference on Robotics and Automation (ICRA). Seattle: IEEE, 2015.
30. Jian G, Shuxiang G, Nan X, et al. Development of force sensing systems for a novel robotic catheter system//2012 IEEE International Conference on Robotics and Biomimetics (ROBIO). Guangzhou: IEEE, 2012: 2213-2218.
31. Dagnino G, Liu J, Abdelaziz M E, et al. Haptic feedback and dynamic active constraints for robot-assisted endovascular catheterization//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid: IEEE, 2018: 1770-1775.
32. 鄭炬炬, 孫志峻, 閆鶴, 等. 運用中空超聲電機的血管介入手術機器人系統. 振動測試與診斷, 2021, 41(5): 976-983,1037-1038.
33. 王濤. 微創手術機器人力反饋主手系統研究. 哈爾濱: 哈爾濱工業大學, 2020.
34. 齊智斌, 郭聯龍, 蘭帥航, 等. 基于改進 Stribeck 模型的伺服系統摩擦補償研究. 微電機, 2024, 57(8): 20-25.
35. 彭健德. 基于 Stribeck 模型結合模糊濾波的柔性伺服系統摩擦補償策略研究. 深圳: 深圳大學, 2023.
36. 傅平, 謝朝陽. 基于改進 Stribeck 模型的超聲波電機力矩-速度遲滯特性研究. 振動與沖擊, 2024, 43(15): 269-276.
37. Phillips J R. An Integrated Stribeck Friction Model: analysis, simulation, and comparison with Dahl and LuGre. Simulation, 2025, 101(4): 477-491.
38. 方群玲, 孫虎兒, 劉維雄. 不同載荷下滑塊軸承潤滑狀態的 Stribeck 曲線研究. 機械傳動, 2016, 40(1): 124-126.
39. 馮浩, 姜金葉, 宋倩玉, 等. 電液伺服系統摩擦參數辨識與補償控制. 振動測試與診斷, 2024, 44(5): 922-927, 1037-1038.
40. Hwang S W, Lim M S, Hong J P. Hysteresis torque estimation method based on iron-loss analysis for permanent magnet synchronous motor. IEEE Trans Magn, 2016, 52(7): 1-4.

Journal of Biomedical Engineering

Master manipulator of vascular intervention surgical robot based on haptic feedback

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