AVR Training System with Haptic Force Feedback for the Robotic Endovascular Surge

摘要

During conventional endovascular procedures, the interventionalists are able to adjust the catheter motion based on the tactile sensation by their hands. For surgery safety, the surgeons must have technical proficiency and abundant experience. Hence the training of the surgeon is needed. The purpose of this study is to present a haptic force feedback based virtual reality (VR) training system that enabled novel surgeons to use their traditional bedside endovascular skills to remotely navigate the catheter. The MR (Magnetorheological) fluids-based master haptic interface has been proposed to measure the actions of the operator and provide the haptic force. The VR simulator is as the patient side to simulate the endovascular procedure. The five operators take part in the experiments to remotely navigate a virtual catheter through virtual cerebral-vessel. Experimental results show that the developed training system with haptic force feedback can enhance surgery safety and short the operation time.