A method to enhance fidelity of force feedback control in virtual and human-robot micro interaction cardiovascular intervention surgery

In virtual cardiovascular surgery and human-robot micro interaction surgery, the force feedback is transmitted via the flexible guide wire. Flexible deformation would make it hard to ensure fidelity only by rendering the force feedback in actuators. This study develops a dynamic model of the guide wire, which is used to simulate the collision of guide wire in the blood vessel or pipeline of the force feedback device. Its dynamic characteristic can be adapted to the design of control strategy of the force feedback and its parameter adjustment. As the force is low, it is easily affected by the motion and friction of the actuator and hand tremor. It puts up the requirement for system robustness. Then, the terminal sliding mode controller is designed to improve the robustness and convergence of the force feedback control. And the research quantitatively evaluates the fidelity of the force feedback control.