# An Interventional Surgical Robot Based on Multi-Data Detection
## 1 Introduction  
With an aging population, incidence of cardiovascular disease is on the rise worldwide and has become one of the biggest diseases that harm the elderly. At present, interventional surgery has gradually become the best treatment for cardiovascular diseases due to its low trauma and fast recovery [1]. Traditional interventional surgery requires very experienced surgeons to perform it. The surgeon creates an entrance in the patient's femoral or radial artery and sends the guide wire and catheter into the patient's artery. They must push the guide wire and catheter along the artery to the lesion site and then perform drug delivery or stent construction [2]. Due to the complexity of the vessels and the inability of the surgeon to monitor their status in real time, a digital subtraction angiography (DSA) system is required to locate the catheter. In traditional surgery, the DSA system produces so much radiation that doctors wear very heavy lead suits to protect themselves, which makes them very tired. In the long run, surgeons often suffer from chronic diseases such as lumbar muscle strain, which seriously harm their health. In addition, long and intense procedures can cause the surgeon'  
have used pressure sensors to detect the resistance encountered when advancing from the end [8; 9]. Some researchers have used micro-optical fiber sensors to detect the triaxial deformation relationship between catheter head and vascular wall [10; 11]. In the context of force feedback, some researchers use magnetorheological fluid as a medium to control magnetic field intensity, so as to achieve force feedback at the main end [12; 13; 14; 15]. Some researchers used the Phantom desktop haptic device as the main controller, with integrated force feedback function [16]. In terms of control, some researchers also pay attention to robot control algorithms and improve the overall control accuracy of robots through new control algorithms [17; 18]. At present, most interventional surgical robot systems adopt master-slave structure. The robot is provided with a guide wire and a catheter clamping device at the slave side. The surgeon remotely controls the controller on the master side. The slave side receives the control signal of the master side and replicates the operation from the master side, thus realizing the remote operation of the robot. As a result, surgeons do not need to wear lead suits to operate, which eases the physical burden on surgeons and protects them from radiation. At the same time, the driving motor at the secondary end can also provide high precision and stability control, avoiding error caused by the shaking of the surgeon's hand in traditional surgery. Compared with traditional manual surgery, robotic surgery has the advantages of high precision and non-exposure to radiation. However, how to ensure the safety of robotic surgery is of upmost importance. Collision force detection during the slave side catheter propulsion in robotic surgery is a hot research area. As the catheter moves through the blood vessel, friction can occur between the catheter and the vessel wall. When passing through the bend of the blood vessel, the catheter head is easy to collide with the wall of the blood vessel, and a large collision may even scratch the blood vessel, causing harm to the patient. Because the catheter is propelled by a motor from the end, the surgeon cannot directly feel the resistance of the catheter. Therefore, the detection of the collision force of the catheter is very important in robotic surgery. The detected force information from the slave side can be fed back to the master side, and more surgical information can be given to the operator through force feedback lever or data display feedback, which can improve the safety of the operation. In current surgical robot research, the most commonly used method is to install a pressure sensor in the catheter clamping module to detect the collision force of the catheter head through the conduction of the mechanical structure.