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Sensors
Volume 25
Issue 24
10.3390/s25247450
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

An Innovative Master Haptic Interface Employing Magnetorheological Fluids for Endovascular Catheterization

by
Linshuai Zhang
1,2,3,†,
Siyu Huang
1,†,
Jinshan Zuo
1,
Shuoxin Gu
2,
Lin Xu
1,
Yujie Zhang
1 and
Tao Jiang
1,*
1
School of Intelligent Medicine, Chengdu University of Traditional Chinese Medicine, Chengdu 611137, China
2
School of Automation, Chengdu University of Information Technology, Chengdu 610225, China
3
Engineering Research Center of Traditional Chinese Medicine Artificial Intelligence of Sichuan Province, Chengdu 611137, China
*
Author to whom correspondence should be addressed.
†
These authors contributed equally to this work.
Sensors 2025, 25(24), 7450; https://doi.org/10.3390/s25247450 (registering DOI)
Submission received: 22 October 2025 / Revised: 3 December 2025 / Accepted: 5 December 2025 / Published: 7 December 2025
(This article belongs to the Special Issue Design and Integration of Sensors for Control, Planning and Deployment in Robotic Systems)
Versions Notes

Abstract

Inadequate force feedback and collision warnings in teleoperated surgical instruments elevate risks during intravascular cannulation. This study introduces an innovative master haptic interface that utilizes magnetorheological (MR) fluid to enhance surgeons’ operational perception during robot-assisted intervention surgery. The system delivers real-time haptic feedback to enhance surgical operational safety and automatically amplifies the feedback force when the contact force on the slave side surpasses the predefined threshold, enabling timely collision alerts. A series of preliminary experiments has been carried out to validate the efficacy of this particular type of haptic interface. The experimental results clearly indicate that the master haptic interface based on MR fluid and carefully designed can effectively enhance the operator’s haptic perception and provide collision alarms in a timely manner with haptic clues, improving the safety and operability of robot intravascular intervention. This research provides some insights into the functional improvements of safe and reliable robot-assisted catheter systems.
Keywords: master haptic interface; magnetorheological fluids; endovascular catheterization; safe operation; vascular interventional surgery master haptic interface; magnetorheological fluids; endovascular catheterization; safe operation; vascular interventional surgery

Share and Cite

MDPI and ACS Style

Zhang, L.; Huang, S.; Zuo, J.; Gu, S.; Xu, L.; Zhang, Y.; Jiang, T. An Innovative Master Haptic Interface Employing Magnetorheological Fluids for Endovascular Catheterization. Sensors 2025, 25, 7450. https://doi.org/10.3390/s25247450

AMA Style

Zhang L, Huang S, Zuo J, Gu S, Xu L, Zhang Y, Jiang T. An Innovative Master Haptic Interface Employing Magnetorheological Fluids for Endovascular Catheterization. Sensors. 2025; 25(24):7450. https://doi.org/10.3390/s25247450

Chicago/Turabian Style

Zhang, Linshuai, Siyu Huang, Jinshan Zuo, Shuoxin Gu, Lin Xu, Yujie Zhang, and Tao Jiang. 2025. "An Innovative Master Haptic Interface Employing Magnetorheological Fluids for Endovascular Catheterization" Sensors 25, no. 24: 7450. https://doi.org/10.3390/s25247450

APA Style

Zhang, L., Huang, S., Zuo, J., Gu, S., Xu, L., Zhang, Y., & Jiang, T. (2025). An Innovative Master Haptic Interface Employing Magnetorheological Fluids for Endovascular Catheterization. Sensors, 25(24), 7450. https://doi.org/10.3390/s25247450

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