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A Transparent Teleoperated Robotic Surgical System with Predictive Haptic Feedback and Force Modelling.

Taran Batty1, Armin Ehrampoosh2, Bijan Shirinzadeh2

  • 1Australian Synchrotron, ANSTO, Melbourne, VIC 3168, Australia.

Sensors (Basel, Switzerland)
|December 23, 2022
PubMed
Summary

This study enhances robotic surgery by using environment estimation and force prediction to overcome time delays, improving haptic feedback accuracy and system stability for surgeons.

Keywords:
force modellinghaptic feedbackmedical roboticspredictive force feedbackteleoperated robotic surgery

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Area of Science:

  • Robotics
  • Surgical Technology
  • Haptic Feedback

Background:

  • Robotic minimally invasive surgery offers improved outcomes.
  • Time delays in teleoperated systems challenge haptic feedback, impacting transparency and stability.

Purpose of the Study:

  • Mitigate time delays in robotic surgery systems.
  • Improve haptic feedback transparency and stability.

Main Methods:

  • Implemented environment estimation and force prediction.
  • Used an exponentially weighted recursive least squares (EWRLS) algorithm to estimate Kelvin-Voigt (KV) and Hunt-Crossley (HC) force models.
  • Conducted palpation experiments with polyurethane foam during human-in-the-loop teleoperation.

Main Results:

  • Reduced prediction Root Mean Square Error (RMSE) to 0.076 N with the HC model, significantly better than KV (0.356 N) and direct feedback (0.560 N).
  • Demonstrated the HC model's suitability for accurate haptic feedback, especially with system delays.
  • Showcased improved transparency in teleoperation through environment estimation and force prediction.

Conclusions:

  • The proposed bilateral master-slave robotic system provides transparent and stable haptic feedback.
  • This approach has potential for enhancing surgical robotics procedures.