Design and Control of Master Device with Force Feedback for Teleoperated ERCP Guidewire Insertion

ERCP (Endoscopic Retrograde Cholangiopancreatography) is a common procedure used to diagnose and treat biliary and pancreatic diseases. However, the repeated exposure to X-ray radiation during these procedures poses health risks to surgeons. Teleoperation systems can help reduce this exposure, but they face challenges such as the lack of force feedback and differences between the master device's mechanisms and the movements of surgical tools, which can diminish surgical precision. This study aimed to develop a master device with force feedback specifically for teleoperated ERCP guidewire insertion, drawing inspiration from the natural hand movements of surgeons. The device includes a ring-shaped translation control handle and a rotation control handle, both designed to allow unlimited movement, thereby intuitively replicating the operation of the guidewire. A force feedback system was incorporated to enable collision detection and prevent potential injuries during procedures. Experimental results showed that the proposed system enhances control precision, reduces handling inertia, and provides effective force feedback. These advancements ensure safer and more accurate guidewire manipulation, addressing key limitations of existing teleoperation systems. Ultimately, this device not only minimizes radiation exposure for surgeons but also facilitates intuitive and precise teleoperated ERCP procedures.