A vascular interventional operation
robot main end force feedback device is characterized by comprising a cylindrical magnetic conduction stick, an operation rod, a
catheter, a connection buckle internally comprising a bearing, a
solid optical-
electricity encoder, a hollow optical-
electricity encoder, a coil, a spool, a guide rail and a
magnet; the working method includes the steps that when the rotating angle is measured, the rotating angle can be measured by rotating the
catheter to drive an inner shaft of the hollow optical-
electricity encoder to rotate; when axial movement information is ensured, a
solid shaft of the
solid optical-electricity encoder rotates together with an operation rod through the guide rail so that advancing displacement can be converted into the rotating angle; force feedback of the operation force of a slave operator is achieved on a master operator. The vascular interventional operation
robot main end force feedback device has the advantages that the design lays emphasis on real-time feedback of the operation force of operations, the operation force of the slave operator can be directly fed back to the operation hand of a doctor in real time through an operation
pipe on the main operator, feedback is visible, and requirements for
operation safety and doctor operation are met; the axial information of operation of the doctor is efficiently obtained in an
electromagnetic induction mode without adding additional loads.