Design of an Active Haptic Interface Using Proprioception Feedback for Continuous Endovascular Teleoperation

Abstract

Force feedback is essential for safe endovascular teleoperation, yet typically constrained by complex sensor integration. This article presents a compact active haptic interface system designed for robotic catheterization. Leveraging the intrinsic proprioception of a Permanent Magnet Synchronous Motor, the integrated design enables proprioception proximal force measurement, simplifying mechanical structure while ensuring clinical deployability. To refine haptic fidelity, a hybrid estimation framework combines physics-based dynamics with a neural network to compensate for residual errors, optimizing the reconstruction of proximal interaction forces. The interface supports a continuous rate-control strategy, mapping estimated resistance into real-time active feedback. System experiments and user studies have demonstrated a delay of less than 5 ms and a estimation accuracy of 0.1 N. The proposed solution significantly reduces peak interaction forces and enhances obstacle awareness, offering a practical, cost-effective system-level solution for robotic vascular interventions.