Design of Wireless Force Sensing Module of Vascular Interventional Robot

Force information is an indispensable and essential factor in vascular interventional surgery, which significantly affects the accuracy and safety of the procedure. This paper designs a new force sensing module for the vascular interventional robot, which measures the propulsion resistance and twisting torque during catheter and guidewire actuation. The FEA simulation is used to analyze the stress of the elastic body, and to establish the appropriate structure statically. The voltage signal is amplified, filtered and then transmitted wirelessly via Bluetooth. Finally, the force sensing module is subjected to a static calibration experiment, and the acquired signal is filtered using the Kalman filter algorithm. The experimental results have shown that the force sensing module exhibits good linearity and accuracy.