Design of a Vascular Interventional Surgery Platform Based on Clamping-Side Guidewire Force Feedback

In this paper, the design of a master-slave controlled vascular interventional surgery platform with integrated guidewire force feedback at the clamping end is presented. Conventional robotic systems often lack real-time guidewire-vessel contact force measurement, posing risks during catheterization. To address this, we developed a system incorporating a single-axis force sensor to measure contact forces between the guidewire and vessel wall. The platform synchronizes motion and force transmission using a closed-loop control strategy, providing real-time feedback to the surgeon. We evaluated the system using cerebral neurovascular models, conducting experimental trials to evaluate force detection accuracy and system responsiveness. Force-time curve analysis during guidewire insertion demonstrated the effectiveness of the feedback mechanism in identifying critical force thresholds. The results show that the system enhances operational safety and simplifies sensor design compared to multi-axis sensing approaches. Experimental trials indicate that the force measurement accuracy is within ±4%, providing reliable real-time feedback to the surgeon. This work lays the foundation for further optimization of haptic feedback in autonomous vascular interventions.