MR fluid interface of endovascular catheterization based on haptic sensation

During the teleoperated robot assisted catheter interventional neurosurgery, to improve the transparency between the patient side (slave side) and the remote control side (mast side) have been obtained plenty of attention. In this research we hypothesized that the slave catheter interventional robot fully complied with the dynamics command which comes from the master site. This paper is concerned with the design and implementation of a master side by Magnetorheological (MR) fluid, which can reflect the dynamic changes of the insertion resistance force, when the catheter goes through the blood vessel to the lesions. Experimental results showed that MR Fluid actuated haptic interface has a benefit to describe the blood viscous force during the endovascular catheterization.