A Transparent Teleoperated Robotic Surgical System with Predictive Haptic Feedback and Force Modelling
In recent years, robotic minimally invasive surgery has transformed many types of surgical procedures and improved their outcomes. Implementing effective haptic feedback into a teleoperated robotic surgical system presents a significant challenge due to the trade-off between transparency and stabili...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-12-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/24/9770 |
| _version_ | 1827636966304251904 |
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| author | Taran Batty Armin Ehrampoosh Bijan Shirinzadeh Yongmin Zhong Julian Smith |
| author_facet | Taran Batty Armin Ehrampoosh Bijan Shirinzadeh Yongmin Zhong Julian Smith |
| author_sort | Taran Batty |
| collection | DOAJ |
| description | In recent years, robotic minimally invasive surgery has transformed many types of surgical procedures and improved their outcomes. Implementing effective haptic feedback into a teleoperated robotic surgical system presents a significant challenge due to the trade-off between transparency and stability caused by system communication time delays. In this paper, these time delays are mitigated by implementing an environment estimation and force prediction methodology into an experimental robotic minimally invasive surgical system. At the slave, an exponentially weighted recursive least squares (EWRLS) algorithm estimates the respective parameters of the Kelvin–Voigt (KV) and Hunt–Crossley (HC) force models. The master then provides force feedback by interacting with a virtual environment via the estimated parameters. Palpation experiments were conducted with the slave in contact with polyurethane foam during human-in-the-loop teleoperation. The experimental results indicated that the prediction RMSE of error between predicted master force feedback and measured slave force was reduced to 0.076 N for the Hunt–Crossley virtual environment, compared to 0.356 N for the Kelvin–Voigt virtual environment and 0.560 N for the direct force feedback methodology. The results also demonstrated that the HC force model is well suited to provide accurate haptic feedback, particularly when there is a delay between the master and slave kinematics. Furthermore, a haptic feedback approach that incorporates environment estimation and force prediction improve transparency during teleoperation. In conclusion, the proposed bilateral master–slave robotic system has the potential to provide transparent and stable haptic feedback to the surgeon in surgical robotics procedures. |
| first_indexed | 2024-03-09T15:52:50Z |
| format | Article |
| id | doaj.art-b670ab5e1bbf418cb3714b9ef2b8667b |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T15:52:50Z |
| publishDate | 2022-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-b670ab5e1bbf418cb3714b9ef2b8667b2023-11-24T17:55:02ZengMDPI AGSensors1424-82202022-12-012224977010.3390/s22249770A Transparent Teleoperated Robotic Surgical System with Predictive Haptic Feedback and Force ModellingTaran Batty0Armin Ehrampoosh1Bijan Shirinzadeh2Yongmin Zhong3Julian Smith4Australian Synchrotron, ANSTO, Melbourne, VIC 3168, AustraliaRobotics and Mechatronics Research Laboratory (RMRL), Department of Mechanical and Aerospace Engineering, Monash University, Melbourne, VIC 3800, AustraliaRobotics and Mechatronics Research Laboratory (RMRL), Department of Mechanical and Aerospace Engineering, Monash University, Melbourne, VIC 3800, AustraliaDepartment of Mechanical and Automotive Engineering, RMIT University, Melbourne, VIC 3083, AustraliaDepartment of Surgery, Monash University, Melbourne, VIC 3800, AustraliaIn recent years, robotic minimally invasive surgery has transformed many types of surgical procedures and improved their outcomes. Implementing effective haptic feedback into a teleoperated robotic surgical system presents a significant challenge due to the trade-off between transparency and stability caused by system communication time delays. In this paper, these time delays are mitigated by implementing an environment estimation and force prediction methodology into an experimental robotic minimally invasive surgical system. At the slave, an exponentially weighted recursive least squares (EWRLS) algorithm estimates the respective parameters of the Kelvin–Voigt (KV) and Hunt–Crossley (HC) force models. The master then provides force feedback by interacting with a virtual environment via the estimated parameters. Palpation experiments were conducted with the slave in contact with polyurethane foam during human-in-the-loop teleoperation. The experimental results indicated that the prediction RMSE of error between predicted master force feedback and measured slave force was reduced to 0.076 N for the Hunt–Crossley virtual environment, compared to 0.356 N for the Kelvin–Voigt virtual environment and 0.560 N for the direct force feedback methodology. The results also demonstrated that the HC force model is well suited to provide accurate haptic feedback, particularly when there is a delay between the master and slave kinematics. Furthermore, a haptic feedback approach that incorporates environment estimation and force prediction improve transparency during teleoperation. In conclusion, the proposed bilateral master–slave robotic system has the potential to provide transparent and stable haptic feedback to the surgeon in surgical robotics procedures.https://www.mdpi.com/1424-8220/22/24/9770teleoperated robotic surgerymedical roboticshaptic feedbackpredictive force feedbackforce modelling |
| spellingShingle | Taran Batty Armin Ehrampoosh Bijan Shirinzadeh Yongmin Zhong Julian Smith A Transparent Teleoperated Robotic Surgical System with Predictive Haptic Feedback and Force Modelling Sensors teleoperated robotic surgery medical robotics haptic feedback predictive force feedback force modelling |
| title | A Transparent Teleoperated Robotic Surgical System with Predictive Haptic Feedback and Force Modelling |
| title_full | A Transparent Teleoperated Robotic Surgical System with Predictive Haptic Feedback and Force Modelling |
| title_fullStr | A Transparent Teleoperated Robotic Surgical System with Predictive Haptic Feedback and Force Modelling |
| title_full_unstemmed | A Transparent Teleoperated Robotic Surgical System with Predictive Haptic Feedback and Force Modelling |
| title_short | A Transparent Teleoperated Robotic Surgical System with Predictive Haptic Feedback and Force Modelling |
| title_sort | transparent teleoperated robotic surgical system with predictive haptic feedback and force modelling |
| topic | teleoperated robotic surgery medical robotics haptic feedback predictive force feedback force modelling |
| url | https://www.mdpi.com/1424-8220/22/24/9770 |
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