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An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system
Hongbing Li1, Xun Nie2, Ding Duan2
1Department of Instrument Science and Engineering, and Shanghai Engineering Research Center for Intelligent Diagnosis and Treatment Instrument, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China.
Summary
This study introduces a novel robotic controller for magnified force feedback during needle insertion, enhancing operator perception and safety. The system demonstrated improved control and reduced complications in simulated surgical procedures.
Area of Science:
- Robotics
- Surgical Technology
- Biomechanics
Background:
- Accurate sensing of needle-tissue interaction force is crucial for safe and effective needle insertion procedures.
- Challenges in direct force sensing include miniaturization, cost, and sterilization requirements.
- Enhanced force feedback can improve surgical outcomes and patient safety.
Purpose of the Study:
- To develop and validate a position-based force-to-motion controller with magnified force feedback for needle insertion.
- To augment the operator's perception of delicate needle-tissue interaction forces.
- To demonstrate the suitability of a low-level motion controller for cooperative robotic surgical systems.
Main Methods:
- A position-based force-to-motion controller with magnified force feedback was designed.
- The controller was integrated into a collaborative robotic system for lumbar puncture.
- Hand tremor rejection capabilities were incorporated for stable needle manipulation.
Main Results:
- Experimental validation using a collaborative lumbar puncture robotics system confirmed controller efficacy.
- The amplified feedback force controller enabled safer object interaction during robotic needle insertion assistance.
- Hand tremor rejection improved the stability of needle manipulation.
Conclusions:
- The developed controller allows operators to perceive a desirable interaction force profile during needle insertion.
- Admittance gain significantly influences the operator's ability to control applied forces accurately.
- The system offers a promising approach to enhance safety and precision in robotic-assisted needle insertion procedures.
