Autonomous Robotic Systems in Otolaryngology-Head and Neck Surgery.

Robotic surgery is a growing field with increasing applications to patient care. With the rising use of artificial intelligence (AI), a new frontier emerges, allowing semiautonomous robotics. This article reviews the origins of robotic surgery and subsequent trials of automaticity in all fields. It then describes specific nascent robotic and semiautonomous surgical prototypes within the field of otolaryngology. Finally, broader systemic considerations are posited regarding the implementation of AI-driven robotics in surgery.

A Wearable Fingertip Force Feedback Device System for Object Stiffness Sensing.

Virtual reality technology brings a new experience to human-computer interaction, while wearable force feedback devices can enhance the immersion of users in interaction. This paper proposes a wearable fingertip force feedback device that uses a tendon drive mechanism, with the aim of simulating the stiffness characteristics of objects within virtual scenes. The device adjusts the rotation angle of the torsion spring through a DC motor, and then uses a wire to convert the torque into a feedback force at the user's index fingertips, with an output force of up to 4 N and a force change rate of up to 10 N/s. This paper introduces the mechanical structure and design process of the force feedback device, and conducts a mechanical analysis of the device to select the appropriate components. Physical and psychological experiments are conducted to comprehensively evaluate the device's performance in conveying object stiffness information. The results show that the device can simulate different stiffness characteristics of objects, and users can distinguish objects with different stiffness characteristics well when wearing the force feedback device and interacting with the three-dimensional virtual environments.

Can you feel the force just right? Tactile force feedback for training of minimally invasive surgery-evaluation of vibration feedback for adequate force application.

BACKGROUND: Tissue handling is a crucial skill for surgeons and is challenging to learn. The aim of this study was to develop laparoscopic instruments with different integrated tactile vibration feedback by varying different tactile modalities and assess its effect on tissue handling skills. METHODS: Standard laparoscopic instruments were equipped with a vibration effector, which was controlled by a microcomputer attached to a force sensor platform. One of three different vibration feedbacks (F1: double vibration > 2 N; F2: increasing vibration relative to force; F3: one vibration > 1.5 N and double vibration > 2 N) was applied to the instruments. In this multicenter crossover trial, surgical novices and expert surgeons performed two laparoscopic tasks (Peg transfer, laparoscopic suture, and knot) each with all the three vibration feedback modalities and once without any feedback, in a randomized order. The primary endpoint was force exertion. RESULTS: A total of 57 subjects (15 surgeons, 42 surgical novices) were included in the trial. In the Peg transfer task, there were no differences between the tactile feedback modalities in terms of force application. However, in subgroup analysis, the use of F2 resulted in a significantly lower mean-force application (p-value = 0.02) among the student group. In the laparoscopic suture and knot task, all participants exerted significantly lower mean and peak forces using F2 (p-value < 0.01). These findings remained significant after subgroup analysis for both, the student and surgeon groups individually. The condition without tactile feedback led to the highest mean and peak force exertion compared to the three other feedback modalities. CONCLUSION: Continuous tactile vibration feedback decreases the mean and peak force applied during laparoscopic training tasks. This effect is more pronounced in demanding tasks such as laparoscopic suturing and knot tying and might be more beneficial for students. Laparoscopic tasks without feedback lead to increased force application.

Beyond the manual touch: situational-aware force control for increased safety in robot-assisted skullbase surgery.

PURPOSE: Skullbase surgery demands exceptional precision when removing bone in the lateral skull base. Robotic assistance can alleviate the effect of human sensory-motor limitations. However, the stiffness and inertia of the robot can significantly impact the surgeon's perception and control of the tool-to-tissue interaction forces. METHODS: We present a situational-aware, force control technique aimed at regulating interaction forces during robot-assisted skullbase drilling. The contextual interaction information derived from the digital twin environment is used to enhance sensory perception and suppress undesired high forces. RESULTS: To validate our approach, we conducted initial feasibility experiments involving a medical and two engineering students. The experiment focused on further drilling around critical structures following cortical mastoidectomy. The experiment results demonstrate that robotic assistance coupled with our proposed control scheme effectively limited undesired interaction forces when compared to robotic assistance without the proposed force control. CONCLUSIONS: The proposed force control techniques show promise in significantly reducing undesired interaction forces during robot-assisted skullbase surgery. These findings contribute to the ongoing efforts to enhance surgical precision and safety in complex procedures involving the lateral skull base.

Effect of task-oriented training assisted by force feedback hand rehabilitation robot on finger grasping function in stroke patients with hemiplegia: a randomised controlled trial.

BACKGROUND: Over 80% of patients with stroke experience finger grasping dysfunction, affecting independence in activities of daily living and quality of life. In routine training, task-oriented training is usually used for functional hand training, which may improve finger grasping performance after stroke, while augmented therapy may lead to a better treatment outcome. As a new technology-supported training, the hand rehabilitation robot provides opportunities to improve the therapeutic effect by increasing the training intensity. However, most hand rehabilitation robots commonly applied in clinics are based on a passive training mode and lack the sensory feedback function of fingers, which is not conducive to patients completing more accurate grasping movements. A force feedback hand rehabilitation robot can compensate for these defects. However, its clinical efficacy in patients with stroke remains unknown. This study aimed to investigate the effectiveness and added value of a force feedback hand rehabilitation robot combined with task-oriented training in stroke patients with hemiplegia. METHODS: In this single-blinded randomised controlled trial, 44 stroke patients with hemiplegia were randomly divided into experimental (n = 22) and control (n = 22) groups. Both groups received 40 min/day of conventional upper limb rehabilitation training. The experimental group received 20 min/day of task-oriented training assisted by a force feedback rehabilitation robot, and the control group received 20 min/day of task-oriented training assisted by therapists. Training was provided for 4 weeks, 5 times/week. The Fugl-Meyer motor function assessment of the hand part (FMA-Hand), Action Research Arm Test (ARAT), grip strength, Modified Ashworth scale (MAS), range of motion (ROM), Brunnstrom recovery stages of the hand (BRS-H), and Barthel index (BI) were used to evaluate the effect of two groups before and after treatment. RESULTS: Intra-group comparison: In both groups, the FMA-Hand, ARAT, grip strength, AROM, BRS-H, and BI scores after 4 weeks of treatment were significantly higher than those before treatment (p < 0.05), whereas there was no significant difference in finger flexor MAS scores before and after treatment (p > 0.05). Inter-group comparison: After 4 weeks of treatment, the experimental group's FMA-Hand total score, ARAT, grip strength, and AROM were significantly better than those of the control group (p < 0.05). However, there were no statistically significant differences in the scores of each sub-item of the FMA-Hand after Bonferroni correction (p > 0.007). In addition, there were no statistically significant differences in MAS, BRS-H, and BI scores (p > 0.05). CONCLUSION: Hand performance improved in patients with stroke after 4 weeks of task-oriented training. The use of a force feedback hand rehabilitation robot to support task-oriented training showed additional value over conventional task-oriented training in stroke patients with hand dysfunction. CLINICAL TRIAL REGISTRATION INFORMATION: NCT05841108.

Findings Favor Haptics Feedback in Virtual Simulation Surgical Education: An Updated Systematic and Scoping Review.

BACKGROUND: Virtual simulations (VSs) enhance clinical competencies and skills. However, a previous systematic review of 9 RCT studies highlighted a paucity of literature on the effects of haptic feedback in surgical VSs. An updated systematic and scoping review was conducted to encompass more studies and a broader range of study methodologies. METHODS: A systematic literature search was conducted on July 31, 2023, in MEDLINE, Embase, and Cochrane. English language studies comparing haptic vs non-haptic conditions and using VSs were included. Studies were evaluated and reported using PRISMA-ScR guidelines. RESULTS: Out of 2782 initial studies, 51 were included in the review. Most studies used RCT (21) or crossover (23) methodologies with medical residents, students, and attending physicians. Most used post-intervention metrics, while some used pre- and post-intervention metrics. Overall, 34 performance results from studies favored haptics, 3 favored non-haptics, and the rest showed mixed or equal results. CONCLUSION: This updated review highlights the diverse application of haptic technology in surgical VSs. Haptics generally enhances performance, complements traditional teaching methods, and offers personalized learning with adequate simulator validation. However, a sparsity of orienting to the simulator, pre-/post-study designs, and small sample sizes poses concerns with the validity of the results. We underscore the urgent need for standardized protocols, large-scale studies, and nuanced understanding of haptic feedback integration. We also accentuate the significance of simulator validation, personalized learning potential, and the need for researcher, educator, and manufacturer collaboration. This review is a guidepost for navigating the complexities and advancements in haptic-enhanced surgical VSs.

HapticWhirl, a Flywheel-Gimbal Handheld Haptic Controller for Exploring Multimodal Haptic Feedback.

Most haptic actuators available on the market today can generate only a single modality of stimuli. This ultimately limits the capacity of a kinaesthetic haptic controller to deliver more expressive feedback, requiring a haptic controller to integrate multiple actuators to generate complex haptic stimuli, with a corresponding complexity of construction and control. To address this, we designed a haptic controller to deliver several modalities of kinaesthetic haptic feedback using a single actuator: a flywheel, the orientation of which is controlled by two gimbals capable of rotating over 360 degrees, in combination with a flywheel brake. This enables the controller to generate multiple haptic feedback modalities, such as torque feedback, impact simulation, low-frequency high-amplitude vibrations, inertial effects (the sensation of momentum), and complex haptic output effects such as the experience of vortex-like forces (whirl effects). By combining these diverse haptic effects, the controller enriches the haptic dimension of VR environments. This paper presents the device's design, implementation, and characterization, and proposes potential applications for future work.

Robotic mirror therapy for stroke rehabilitation through virtual activities of daily living.

Mirror therapy is a standard technique of rehabilitation for recovering motor and vision abilities of stroke patients, especially in the case of asymmetric limb function. To enhance traditional mirror therapy, robotic mirror therapy (RMT) has been proposed over the past decade, allowing for assisted bimanual coordination of paretic (affected) and contralateral (healthy) limbs. However, state-of-the-art RMT platforms predominantly target mirrored motions of trajectories, largely limited to 2-D motions. In this paper, an RMT platform is proposed, which can facilitate the patient to practice virtual activities of daily living (ADL) and thus enhance their independence. Two similar (but mirrored) 3D virtual environments are created in which the patients operate robots with both their limbs to complete ADL (such as writing and eating) with the assistance of the therapist. The recovery level of the patient is continuously assessed by monitoring their ability to track assigned trajectories. The patient's robots are programmed to assist the patient in following these trajectories based on this recovery level. In this paper, the framework to dynamically monitor recovery level and accordingly provide assistance is developed along with the nonlinear controller design to ensure position tracking, force control, and stability. Proof-of-concept studies are conducted with both 3D trajectory tracking and ADL. The results demonstrate the potential use of the proposed system to enhance the recovery of the patients.

An intelligent grasper to provide real-time force feedback to shorten the learning curve in laparoscopic training.

BACKGROUND: A lack of force feedback in laparoscopic surgery often leads to a steep learning curve to the novices and traditional training system equipped with force feedback need a high educational cost. This study aimed to use a laparoscopic grasper providing force feedback in laparoscopic training which can assist in controlling of gripping forces and improve the learning processing of the novices. METHODS: Firstly, we conducted a pre-experiment to verify the role of force feedback in gripping operations and establish the safe gripping force threshold for the tasks. Following this, we proceeded with a four-week training program. Unlike the novices without feedback (Group A2), the novices receiving feedback (Group B2) underwent training that included force feedback. Finally, we completed a follow-up period without providing force feedback to assess the training effect under different conditions. Real-time force parameters were recorded and compared. RESULTS: In the pre-experiment, we set the gripping force threshold for the tasks based on the experienced surgeons' performance. This is reasonable as the experienced surgeons have obtained adequate skill of handling grasper. The thresholds for task 1, 2, and 3 were set as 0.731 N, 1.203 N and 0.938 N, respectively. With force feedback, the gripping force applied by the novices with feedback (Group B1) was lower than that of the novices without feedback (Group A1) (p < 0.005). During the training period, the Group B2 takes 6 trails to achieve gripping force of 0.635 N, which is lower than the threshold line, whereas the Group A2 needs 11 trails, meaning that the learning curve of Group B2 was significantly shorter than that of Group A2. Additionally, during the follow-up period, there was no significant decline in force learning, and Group B2 demonstrated better control of gripping operations. The training with force feedback received positive evaluations. CONCLUSION: Our study shows that using a grasper providing force feedback in laparoscopic training can help to control the gripping force and shorten the learning curve. It is anticipated that the laparoscopic grasper equipped with FBG sensor is promising to provide force feedback during laparoscopic training, which ultimately shows great potential in laparoscopic surgery.

May the force be with you: exploring force discrimination in chimpanzees using the force-feedback device.

While force-feedback devices have been developed in areas such as virtual reality, there have been very few comparative cognitive studies in nonhuman animals using these devices. In addition, although cross-modal perception between vision and touch has been actively studied in nonhuman primates for several decades, there have been no studies of their active haptic perception. In this study, we attempted to train force discrimination in chimpanzees using a force-feedback device modified from a trackball. Chimpanzees were given different levels of force feedback (8.0 vs. 0.5 N) when moving the on-screen cursor to the target area by manipulating the trackball and were required to select one of two choice stimuli based on the force cue. The experiment was conducted using a trial-block procedure in which the same force stimulus was presented for a fixed number of trials, and the force stimulus was changed between blocks. The block size was progressively reduced from ten trials. Four chimpanzees were trained, but none reached the learning criterion (80% or more correct responses under the condition that the force stimuli were presented randomly). However, a detailed analysis of the chimpanzees' performance before and after the trial-block switching revealed that their choice behavior could not be explained by a simple win-stay/lose-shift strategy, suggesting that the switching of the force stimuli affected the chimpanzees' choice behavior. It was also found that the chimpanzees performed better when switching from small to large force stimuli than when switching from large to small force stimuli. Although none of the chimpanzees in this study acquired force discrimination, future studies using such force-feedback devices will provide new insights for understanding haptic cognition in nonhuman primates from a comparative cognitive perspective.

Effects of a force feedback function in a surgical robot on the suturing procedure.

BACKGROUND: Currently, widely used robotic surgical systems do not provide force feedback. This study aimed to evaluate the impact and benefits of a force feedback function on the suturing procedure. METHODS: Twenty surgeons were recruited and divided into young (Y-group, n = 11) and senior (S-group, n = 9) groups, based on their years of surgical experience. The effect of the force feedback function on suturing quality was evaluated using an objective assessment system (A-LAP mini, Kyoto Kagaku Co., Ltd., Kyoto, Japan). Each participant completed the suturing task on intestinal model sheets with the robotic contact force feedback on and off. The task accomplishment time (s), maximal force (Newton, N) applied to the robotic forceps, and quality of suturing (assessed by A-LAP mini) were recorded as performance parameters. RESULTS: In total, the maximal force applied to the robotic forceps was significantly decreased with the robotic force feedback switched on (median [interquartile range]: 2.8 N (2.3-3.2)) as compared with when the feedback was switched off (3.4 N (2.7-4.0), P < 0.001). The contact force feedback function did not affect the objectively assessed suturing score (18 points (17.7-19.0) versus 18 points (17.0-19.0), P = 0.421). The contact force feedback function slightly shortened the task accomplishment time in the Y-group (552.5 s (466.5-832) versus 605.5 s (476.2-689.7), P = 0.851) but not in the S-group (566 s (440.2-703.5) versus 470.5 s (419.7-560.2), P = 0.164). CONCLUSIONS: With the contact force feedback function, the suturing task was completed with a smaller maximal force, while maintaining the quality of suturing. Because the benefits are more apparent in young surgeons, robots with the contact force feedback function will facilitate the educational process in novice surgeons.

The size coding of responses: The size of switches and the force feedback.

We aimed to understand which factors have a functional role in the size coding of responses, either the size of the switches or the force required to trigger each switch. This question is of relevance because it allows a better understanding of processes underlying action coding. In each trial, participants saw a small or large object. Depending on its colour, the participants had to press one of two switches. In the "size" condition, the response device consisted of two switches of different visual size, but both required the same amount of force. In the "force-feedback" condition, the response device consisted in two switches of identical visual size, but one switch required more force than the other. We found a compatibility effect in the "size," not in the "force-feedback" condition, supporting that the size-coding of responses would be due to the size of the switches.

Using force or EMG envelope as feedback signal for motor control system.

PURPOSE: This work studied muscle neuro-mechanics during symmetrical up-going ramp (UGR) and down-going ramp (DGR). AIM: to evaluate during the modulation of muscular action the outcome of force feedback (FF) or neural feedback (NF) on the behavior of the trailing signals - i.e. the EMG envelope (eEMG) for FF or force signal for NF. METHOD: Subjects: 20. Investigated muscles: dorsal interosseous (FDI) and tibialis anterior (TA). Detected signals: force and EMG. Visual feedback: force (FF), eEMG (NF). Effort triangles: ramps duration 7.5 s, vertex at 50 and 100 % of the maximal voluntary action. Eventually, each subject performed FF50%, FF100%, NF50% and NF100% per each muscle. In each condition the areas beneath the force and eEMG signals were computed to calculate the ratios between the DGR and UGR values during the different tasks (force area DGR / force area UGR; eEMG area DGR / eEMG area UGR). Electro-mechanical coupling efficiency (EMCE) was estimated through the eEMG area / force area ratio for both UGR and DGR in each condition. RESULTS: a) FF. FDI: eEMG area ratio was 0.84 ± 0.15 and 0.73 ± 0.17 for FF50% and FF100%, respectively. TA: eEMG area ratio was 0.88 ± 0.11 and 0.91 ± 0.17 for FF50% and FF100%, respectively. b) NF: FDI: force area ratio was 1.18 ± 0.13 and 1.17 ± 0.13 for NF50% and NF100%, respectively. TA: force area ratio was 1.17 ± 0.21 and 1.07 ± 0.19 for NF50% and NF100%, respectively. c) DGR EMCE was greater than UGR EMCE in all four tasks. CONCLUSION: The influence of UGR on deployed EMCE in the following force decrement phase underpins the changes of trailing signals area during DGR. This underlines the necessity of a careful evaluation of the features of FF or NF for experimental studies or rehabilitation purposes involving the motor control system.

[Research Progress and Prospect Analysis of Vascular Interventional Surgical Robot].

Vascular interventional surgery is an important means to treat cardiovascular and cerebrovascular diseases, but the particularity of its working environment will bring greater radiation threat to doctors. Vascular interventional surgery robots can effectively improve the working environment of doctors and can provide more stable operations, improve the success rate of surgery. This study mainly introduces the current research status, key technologies, and future application of vascular interventional surgical robots.

Design and evaluation of a wearable vascular interventional surgical robot system.

BACKGROUND: Remote-controlled robotic vascular interventional surgery can reduce radiation exposure to interventional physicians and improve safety. However, inconvenient operation and lack of force feedback limit its application. MATERIALS AND METHODS: A new wearable robotic system for vascular interventional surgery is designed, which is more flexible in operation. It ensures the safety of surgery through haptic force feedback. The system was evaluated by human vascular models and animal experiments. RESULTS: The average static error of the system is 0.048 mm when the axial motion is 250 mm and 1.259° when the rotational motion is 400°. The average error of the force feedback is 0.021 N. The results of vascular model experiments and animal experiments demonstrate the feasibility and safety of the system. CONCLUSIONS: The proposed robotic system can assist physicians in remotely delivering standard catheters or guidewires. The system is more flexible and uses haptic force feedback to ensure surgical safety.

EMG feedback improves grasping of compliant objects using a myoelectric prosthesis.

BACKGROUND: Closing the control loop in myoelectric prostheses by providing artificial somatosensory feedback is recognized as an important goal. However, designing a feedback interface that is effective in realistic conditions is still a challenge. Namely, in some situations, feedback can be redundant, as the information it provides can be readily obtained through hearing or vision (e.g., grasping force estimated from the deformation of a compliant object). EMG feedback is a non-invasive method wherein the tactile stimulation conveys to the user the level of their own myoelectric signal, hence a measurement intrinsic to the interface, which cannot be accessed incidentally. METHODS: The present study investigated the efficacy of EMG feedback in prosthesis force control when 10 able-bodied participants and a person with transradial amputation used a myoelectric prosthesis to grasp compliant objects of different stiffness values. The performance with feedback was compared to that achieved when the participants relied solely on incidental cues. RESULTS: The main outcome measures were the task success rate and completion time. EMG feedback resulted in significantly higher success rates regardless of pin stiffness, indicating that the feedback enhanced the accuracy of force application despite the abundance of incidental cues. Contrary to expectations, there was no difference in the completion time between the two feedback conditions. Additionally, the data revealed that the participants could produce smoother control signals when they received EMG feedback as well as more consistent commands across trials, signifying better control of the system by the participants. CONCLUSIONS: The results presented in this study further support the efficacy of EMG feedback when closing the prosthesis control loop by demonstrating its benefits in particularly challenging conditions which maximized the utility of intrinsic feedback sources.

System identification and simulation of soft tissue force feedback in a spine surgical simulator.

Surgical simulators are being introduced as training modalities for surgeons. This paper aims to evaluate dynamic models used to convey force feedback from puncturing the soft tissue during a spine surgical simulation. The force feedback of the tissue is treated as a dynamic system. This is done by performing classical system identification across a bandwidth of frequencies on a tissue analogue and fitting that behaviour to dynamic viscoelastic models. The models that are tested are an inverted linear model, the Maxwell model, the Kelvin-Boltzmann (KB) model, and a higher-order blackbox (HO) model. Several error metrics such as percent variance accounted for (%VAF) are determined to measure solution accuracy. The force feedback models are programmed into a surgical simulator and tested with study participants who rated them based on how well the identified models match the behaviour of the rubber tissue analogue. The highest %VAF is 82.64% when the tissue is modelled as the HO model. Statistically significant differences (p < 0.05) are found between all model ratings from participants except between the HO model and the KB model. However, the HO model has the highest percentage (37.8%) of participants who rank its performance as the closest to the tissue analogue compared to the other force feedback models. The more accurately the dynamic behaviour resembles the tissue analogue, the higher the model was rated by study participants. This study highlights the importance of utilizing dynamic signals to generate dynamic models of soft tissue for spine surgical simulators.

Flexible Pressure Sensors Based on Microcrack Structure and Composite Conductive Mechanism for Medical Robotic Applications.

With the advancement of intelligent medical robot technology, machine touch utilizing flexible sensors has emerged as a prominent research area. In this study, a flexible resistive pressure sensor was designed incorporating a microcrack structure with air pores and a composite conductive mechanism of silver/carbon. The aim was to achieve enhanced stability and sensitivity with the inclusion of macro through-holes (1-3 mm) to expand the sensitive range. This technology solution was specifically applied to the machine touch system of the B-ultrasound robot. Through meticulous experimentation, it was determined that the optimal approach involved uniformly blending ecoflex and nano carbon powder at a mass ratio of 5:1, and subsequently combining the mixture with an ethanol solution of silver nanowires (AgNWs) at a mass ratio of 6:1. This combination of components resulted in the fabrication of a pressure sensor with optimal performance. Under the pressure testing condition of 5 kPa, a comparison of the resistance change rate was conducted among samples using the optimal formulation from the three processes. It was evident that the sample of ecoflex-C-AgNWs/ethanol solution exhibited the highest sensitivity. Its sensitivity was increased by 19.5% compared to the sample (ecoflex-C) and by 11.3% compared to the sample (ecoflex-C-ethanol). The sample (ecoflex-C-AgNWs/ethanol solution), which only incorporated internal air pore microcracks without through-holes, exhibited sensitive response to pressures below 5 N. However, with the addition of through-holes, the measurement range of its sensitive response increased to 20 N, representing a 400% increase in the measurement range.

A venipuncture robot with decoupled position and attitude guided by near-infrared vision and force feedback.

BACKGROUND: This study aims to develop a venipuncture robot to replace manual venipuncture to ease the heavy workload, lower the risk of 2019-nCoV infection, and boost venipuncture success rates. METHOD: The robot is designed with decoupled position and attitude. It consists of a 3-degree-of-freedom positioning manipulator to locate the needle and a 3-degree-of-freedom end-effector that is always vertical to adjust the yaw and pitch angles of the needle. The near-infrared vision and laser sensors obtain the three-dimensional information of puncture positions, while the change in force detects the state feedback of punctures. RESULTS: The experimental results demonstrate that the venipuncture robot has a compact design, flexible motion, high positioning accuracy and repeatability (0.11 and 0.04 mm), and a high success rate when puncturing the phantom. CONCLUSION: This paper presents a decoupled position and attitude venipuncture robot guided by near-infrared vision and force feedback to replace manual venipuncture. The robot is compact, dexterous, and accurate, which helps to improve the success rate of venipuncture, and it is expected to achieve fully automatic venipuncture in the future.

Design and evaluation of vascular interventional robot system for complex coronary artery lesions.

At present, most vascular intervention robots cannot cope with the more common coronary complex lesions in the clinic. Moreover, the lack of effective force feedback increases the risk of surgery. In this paper, a vascular interventional robot that can collaboratively deliver multiple interventional instruments has been developed to assist doctors in the operation of complex lesions. Based on the doctor's skills and the delivery principle of interventional instruments, the main and slave manipulators of the robot system are designed. Haptic force feedback is generated through resistance measuring mechanism and active drag system. In addition, a force feedback control strategy based on force-velocity mapping is proposed to realize the continuous change of force and avoid vibration. The proposed robot system was evaluated through a series of experiments. The experimental results show that the system can accurately measure the delivery resistance of interventional instruments, and provide haptic force feedback to doctors. The capability of the system to collaboratively deliver multiple interventional instruments is effective. Therefore, it can be considered that the robot system is feasible and effective.