Direct Measurement Vascular Interventional Surgery Force Feedback Sensor Model Based on Active Bending of the Guidewire

This paper presents a direct-measurement force feedback sensor model for vascular interventional surgery based on active bending of the guidewire. The model addresses the need for accurate force sensing information in minimally invasive vascular robotic surgery. The model achieves the measurement of axial proximal resistance through direct contact between the guidewire and the sensor, thus circumventing the issue of lower measurement accuracy due to resistance transmission loss caused by the complex mechanical mechanism. Furthermore, it addresses the challenging problem of acquiring proximal resistance by the delivery mechanism that is not rigidly connected to the guidewire. This paper derives the mathematical expression between the axial proximal force of the guidewire and the radial force of the guidewire in the preloading section and verifies its accuracy through simulation experiments. Furthermore, the range change of the sensor under different specifications of guidewire is analyzed, and the results demonstrate that the model has the advantages of high accuracy, high efficiency, and a simple structure, which has significant clinical application value.