Performance evaluation of a strain-gauge force sensor for a haptic robot-assisted catheter operating system

A robotically assisted catheterization system can obviously reduce the radiation exposure to the surgeon and lesson the fatigue caused by standing for long time in protective clothing. However, effective detection and feedback of proximal force signals is essential to the success of a surgery. This paper presents a compact, cost-effective force-sensing device based on strain gauges, for our team developed slave side, to measure the proximal force signals of the input catheter. A significant advantage is that the proposed sensing device can detect the force signals directly without any mechanical transmission, and this can increase the measurement accuracy of force information. In addition, a haptic interface based on MR fluid is designed to provide a realistic sense of operation according to the force signals from the slave side, so as to improve the safety and success of a surgery. Comparing experimental results from an insertion test and a load cell, show that the average error for force measurement is less than 0.01 N. This research provides important insights into the design of compact, ergonomic, robotic catheter manipulators for intraoperative navigation using effective tactile sensing devices.