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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.
Background:
Telesurgery is limited by visual latency, compromising master-slave synchronization and safety. This study proposes a real-time semantic feedback framework that reduces latency while maintaining millimetre-level localization accuracy.
Methods:
We developed a low-latency semantic feedback system for real-time instrument localization using a custom visual marker and FPGA-based extraction. The system was evaluated through phantom experiments, accuracy benchmarking against the NDI system, latency measurement, and task-based evaluation under delayed visual feedback conditions.
Results:
The system achieved a 99.2% marker extraction success rate, with a maximum mean error of 0.68 0.72 mm and an end-to-end latency of 31.2 1.4 ms. Task-based evaluation further showed significantly reduced task completion time under delayed visual feedback.
Conclusions:
The proposed system provides robust, precise, and low-latency semantic feedback and demonstrates potential to mitigate the impact of visual latency on surgical performance, supporting its application in future telesurgical systems pending further in vivo validation.
