Comparison of the Architecture of Two Force Feedback Modules for Robotic Catheters

This paper presents the development and comparison of two force feedback modules for a robotic catheter employing the popular push-type and torque-type module architectures. A comparative analysis was conducted to evaluate the accuracy of both modules when using a metal rod and an endovascular catheter, identifying their respective strengths and weaknesses. Tests conducted within a load range of up to 11 N revealed that the push-type module exhibits lower error (21%) in measuring static loads with a maximum error of 0.02 N. Dynamic testing at 0.5 mm/s demonstrated that the torque-type module possesses superior response speed and a lower mean error (25%) in dynamic measurements. The greatest errors observed in both types of force feedback modules (2.29 N and 3.41 N) occurred when there was a change in the direction of catheter movement. Experiments with a surgical catheter 2.7 Fr demonstrated that reliance on the force feedback module’s accuracy is pertinent only within the limits of weak catheter deformation forces, specifically up to 0.5 N when utilizing a 10 mm diameter telescopic rod.