An improved master-slave interventional surgery robotic system with force feedback

The interventional surgery is a minimally invasive treatment, which uses the modern high technology. It takes the special catheter, guide wire and other precision instruments to import in the body to do the pathological diagnosis and local treatment under guide of medical imaging equipment. Interventional surgery has excellent characteristics like no operation, small trauma, rapid recovery, etc. It is one of the developing trend of the future medicine. Now, the interventional treatment has some shortage such as the radiation exposure on surgeons, and it is difficult to measure the front collision force on the guide wire. In this paper, we did some improvements on the master controller on the basis of Phantom, and analyzed the dynamic performance from the surgery robot system.