A Safety Strategy for Vascular Interventional Surgery Robots based on Interactive Interface and Motion Scaling

Robot-assisted vascular interventional surgery (VIS) represents a significant advancement in medical technology, offering benefits such as reduced radiation exposure and improved surgical stability, thus positively impacting both doctors and patients. However, ensuring surgical safety through effective visual feedback and robust safety strategies remains crucial during VIS. Unfortunately, existing robot systems often fall short in providing intuitive intraoperative information feedback, burdening doctors with redundant data and potentially compromising surgical safety. To address these challenges, this paper introduces a novel host computer interface and an active surgical safety strategy. The proposed interface allows for real-time plotting of received data, delivering intuitive feedback on key intraoperative information. Additionally, the safety strategy dynamically adjusts the motion mapping coefficient between the leader and follower in risky conditions, minimizing collisions of interventional instruments with vessel walls. Following this proposal, an evaluation experiment was conducted to validate the functionality of the host computer interface and the efficacy of the surgical safety strategy. Experimental results demonstrate that the proposed host computer interface effectively plots intraoperative information in real time. Moreover, in risky scenarios, the safety strategy successfully reduces the displacement of the follower manipulator to 0.5 times and its average following error is 1.30mm, ensuring surgical safety.