At present

most endovascular surgical robotic systems used in clinical practice often employ multi-degree-of-freedom haptic interface devices

joysticks

or navigation buttons to control the slave-side manipulator for catheter/guidewire selection and delivery.This prevents physicians from fully and effectively utilizing traditional clinical surgical catheter/guidewire manipulation techniques.To solve this problem

a master-side haptic interface device with haptic feedback for the endovascular surgical robotic system is designed based on magnetorheological fluid technology.To achieve rapid haptic rendering and eliminate the effects of equipment magnetic hysteresis

Hall sensors are used to detect internal magnetic field variations

analyze the response characteristics of the magnetorheological fluid

and establish a magnetic field-resistance prediction model

realizing haptic force closed-loop control without force sensing.Finally

magnetic field simulations and experimental platform construction are used to verify the effectiveness of the proposed design scheme.Experimental results indicate that the proposed method can control the haptic force-following error within a small range

meeting the haptic feedback requirements of the endovascular surgery.