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.	国家心血管病中心. 中国心血管健康与疾病报告 2024 概要. 中国循环杂志, 2025, 40(6): 521-559.
2.	皇志慧. 沉浸交互式血管介入手术机器人及力反馈技术研究. 上海: 上海大学, 2019.
3.	王鉴, 高翔, 张峰, 等. 血管介入机器人辅助介入治疗研究现状. 介入放射学杂志, 2023, 32(6): 619-623.
4.	赵含霖, 谢晓亮, 奉振球, 等. 血管介入手术机器人系统综述. 中国医疗设备, 2020, 35(12): 11-16.
5.	刘龙, 曹彤, 刘达, 等. 主从式血管介入系统的力反馈实现. 高技术通讯, 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, 何彦霖, 等. 血管介入手术导丝末端检测方法研究. 仪器仪表学报, 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.	赖德伟. 面向微创血管介入手术机器人从操作手的传感技术开发. 天津: 天津大学, 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, 侯增广, 边桂彬, 等. 微创血管介入手术机器人的主从交互控制方法与实现. 自动化学报, 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.	罗彪, 曹彤, 和丽, 等. 血管介入手术机器人推进机构设计及精度研究. 高技术通讯, 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.	郑炬炬, 孙志峻, 闫鹤, 等. 运用中空超声电机的血管介入手术机器人系统. 振动测试与诊断, 2021, 41(5): 976-983,1037-1038.
33.	王涛. 微创手术机器人力反馈主手系统研究. 哈尔滨: 哈尔滨工业大学, 2020.
34.	齐智斌, 郭联龙, 兰帅航, 等. 基于改进 Stribeck 模型的伺服系统摩擦补偿研究. 微电机, 2024, 57(8): 20-25.
35.	彭健德. 基于 Stribeck 模型结合模糊滤波的柔性伺服系统摩擦补偿策略研究. 深圳: 深圳大学, 2023.
36.	傅平, 谢朝阳. 基于改进 Stribeck 模型的超声波电机力矩-速度迟滞特性研究. 振动与冲击, 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, 孙虎儿, 刘维雄. 不同载荷下滑块轴承润滑状态的 Stribeck 曲线研究. 机械传动, 2016, 40(1): 124-126.
39.	冯浩, 姜金叶, 宋倩玉, 等. 电液伺服系统摩擦参数辨识与补偿控制. 振动测试与诊断, 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. 国家心血管病中心. 中国心血管健康与疾病报告 2024 概要. 中国循环杂志, 2025, 40(6): 521-559.
2. 皇志慧. 沉浸交互式血管介入手术机器人及力反馈技术研究. 上海: 上海大学, 2019.
3. 王鉴, 高翔, 张峰, 等. 血管介入机器人辅助介入治疗研究现状. 介入放射学杂志, 2023, 32(6): 619-623.
4. 赵含霖, 谢晓亮, 奉振球, 等. 血管介入手术机器人系统综述. 中国医疗设备, 2020, 35(12): 11-16.
5. 刘龙, 曹彤, 刘达, 等. 主从式血管介入系统的力反馈实现. 高技术通讯, 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, 何彦霖, 等. 血管介入手术导丝末端检测方法研究. 仪器仪表学报, 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. 赖德伟. 面向微创血管介入手术机器人从操作手的传感技术开发. 天津: 天津大学, 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, 侯增广, 边桂彬, 等. 微创血管介入手术机器人的主从交互控制方法与实现. 自动化学报, 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. 罗彪, 曹彤, 和丽, 等. 血管介入手术机器人推进机构设计及精度研究. 高技术通讯, 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. 郑炬炬, 孙志峻, 闫鹤, 等. 运用中空超声电机的血管介入手术机器人系统. 振动测试与诊断, 2021, 41(5): 976-983,1037-1038.
33. 王涛. 微创手术机器人力反馈主手系统研究. 哈尔滨: 哈尔滨工业大学, 2020.
34. 齐智斌, 郭联龙, 兰帅航, 等. 基于改进 Stribeck 模型的伺服系统摩擦补偿研究. 微电机, 2024, 57(8): 20-25.
35. 彭健德. 基于 Stribeck 模型结合模糊滤波的柔性伺服系统摩擦补偿策略研究. 深圳: 深圳大学, 2023.
36. 傅平, 谢朝阳. 基于改进 Stribeck 模型的超声波电机力矩-速度迟滞特性研究. 振动与冲击, 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, 孙虎儿, 刘维雄. 不同载荷下滑块轴承润滑状态的 Stribeck 曲线研究. 机械传动, 2016, 40(1): 124-126.
39. 冯浩, 姜金叶, 宋倩玉, 等. 电液伺服系统摩擦参数辨识与补偿控制. 振动测试与诊断, 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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