An Exploration Study of Thermal Feedback for Vascular Interventional Robot

Recent years, vascular interventional robot (VIR) has promoted enormous scientific research and application prospects. The main purpose of VIR is to accurately replicate surgical operations from the master side to the slave side. In this work, we conduct the exploration study for thermal feedback via the intelligent Peltier module. Besides, we do design a bracelet to combine thermal feedback and vibration feedback, which can install two kinds of feedback in a small space to finish compact design for feedback perception. The bracelet is wearied on the doctor's wrist to enhance the safety and transparency of VIR for the field of robot-assisted surgery. In addition, a multi-level control strategy for thermal feedback is introduced in this work. Experimental results indicate that proposed thermal feedback has good performance for both heat stimulus and cold stimulus. This exploration study for thermal feedback also has potential value and reference influence for the stereoscopic feedback perception for remote robotics.