Related Experiment Video
Updated: Oct 26, 2026
A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique
Published on: January 6, 2023
Variable Admittance Control of Symmetric Teleoperated System for Percutaneous Surgery With Reliable Interaction Force
Hongbing Li1, Linlong Li1, Zhizhen Cai1
1School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, Shanghai, China.
Background:
Teleoperated percutaneous surgery offers significant clinical value by improving needle targeting accuracy and minimising radiation exposure to surgeons. Intuitive control and precise force perception in such teleoperated needle insertion robotic systems are critical for optimising curative effects and ensuring patient safety.
Methods:
In this study, we propose a symmetric master-slave robotic system integrated with an adaptive variable admittance approach to provide an intuitive human-robot interaction. A new variable admittance control algorithm for a symmetric teleoperation system is proposed to guarantee the reliable interaction force perception during constrained percutaneous operation.
Results:
The intuitive human-robot interaction is achieved by an adaptive variable admittance scheme that utilises the time derivative of the human applied force to assess human intentions.
Conclusions:
The proposed control scheme enables smoother and higher precision master slave robot movement, thereby enhancing operational safety and procedural reliability.
