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Updated: May 21, 2026

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FPGA-Based Low-Latency Semantic Feedback System for Real-Time Instrument Localization in Telesurgery.

Zhikang Ma1,2, Xinan Sun2,3, Bo Yi4

  • 1School of Mechanical Engineering, Tianjin University, Tianjin, China.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|May 20, 2026
PubMed
Summary

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This summary is machine-generated.

This study introduces a real-time semantic feedback system to reduce visual latency in telesurgery. The novel framework enhances master-slave synchronization and surgical safety while maintaining high localization accuracy.

Area of Science:

  • Robotics
  • Medical Engineering
  • Computer Vision

Background:

  • Telesurgery is significantly hindered by visual latency, which impairs critical master-slave synchronization and overall patient safety.
  • Existing telesurgical systems struggle to overcome the challenges posed by visual delays, impacting precision and reliability.

Purpose of the Study:

  • To develop and evaluate a real-time semantic feedback framework designed to minimize visual latency in telesurgery.
  • To maintain millimetre-level localization accuracy for surgical instruments despite reduced latency.

Main Methods:

  • A low-latency semantic feedback system was engineered, utilizing a custom visual marker and FPGA-based extraction for real-time instrument localization.
  • System validation involved phantom experiments, accuracy benchmarking against the NDI system, precise latency measurements, and task-based evaluations under simulated visual delay.
Keywords:
instrument localizationlow‐latencysemantic feedbacktelesurgery

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Main Results:

  • The system demonstrated a high marker extraction success rate of 99.2%.
  • Exceptional localization accuracy was achieved, with a maximum mean error of 0.68 ± 0.72 mm.
  • The end-to-end system latency was measured at a low 31.2 ± 1.4 ms, and task completion times were significantly reduced under delayed visual feedback.

Conclusions:

  • The developed semantic feedback system offers robust, precise, and low-latency performance.
  • This technology shows strong potential for mitigating the adverse effects of visual latency on surgical performance in telesurgery.
  • Further in vivo validation is recommended to support its integration into advanced telesurgical systems.