Modelling and analysis of the damping force for the master manipulator of the robotic catheter system

Vascular Interventional Surgery (VIS) is the common but conventional method to cure the vascular disease. Teleoperation, a promising surgery is used to protect the surgeon from X-ray radiation as well as to solve the problem of lacking experienced surgeons in remote rural areas. In this paper, a mathematical model of the damper has been built to get the relationship between the current of the coil and the damping force. According to the mathematical model, a PID control algorithm was designed to improve the accuracy of force feedback. The slave manipulator detect the force of catheter when being inserted into the blood vessels, then the master manipulator produce an equal damping force by a damper based on magnetorheological fluids. The comparison experiments between control mode with the PID algorithm and control mode without PID algorithm have been done to verify the performance. The result shows that the error with the PID control algorithm is small, which indicates the PID algorithm can improve accuracy of the force feedback.