An Adaptive Shared Control Frame and Feedback Rendering in Interactive Robot-Assisted Surgical Manipulation

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-05-19 DOI:10.1002/rcs.70069

Hao Ren, Li Zhichao, Qingyuan Wu, Xiaodong Ma, Dan Wu

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引用次数: 0

Abstract

Background

In an unstructured environment where real-time human decision is essential, shared control allows collaboration between humans and robotic systems, combining advantages of both. However, existing control methods are challenged with precision loss, inconsistency and interference from unconscious human inputs.

Methods

An adaptive anisotropic control frame is presented, enabling interaction both operational and tactical levels. Using predefined trajectory, a dynamic weight function is proposed to allow the human operator to override. Movement along preferred direction is encouraged and compensated, providing accurate real-time tracking performance. Haptic feedback during shared control is evaluated and optimised.

Results

Experiments validate that the raised method can achieve a tracking precision of $\pm 0.17 m m$ under milling payload, with sensible feedback to the operator. The override manipulation can be rapidly made within 0.4 s as the tactical level interaction.

Conclusion

The proposed approach provides both stability and flexibility in interactive surgical manipulations, maintaining similar precision with autonomous execution.

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交互式机器人辅助手术操作中的自适应共享控制框架与反馈渲染

在非结构化环境中，实时的人类决策是必不可少的，共享控制允许人类和机器人系统之间的协作，结合两者的优势。然而，现有的控制方法存在精度损失、不一致性和无意识人为输入的干扰等问题。方法提出了一种自适应各向异性控制框架，实现了作战和战术层面的相互作用。利用预定义的轨迹，提出了一个动态权函数，允许人工操作员进行覆盖。运动沿着首选方向鼓励和补偿，提供准确的实时跟踪性能。对共享控制过程中的触觉反馈进行了评估和优化。结果实验验证了该方法在铣削载荷下的跟踪精度为±0.17mm$ \pm 0.17mm$，并对操作者进行了合理的反馈。作为战术级交互，可以在0.4 s内快速完成超驰操作。结论该方法在交互式手术操作中提供了稳定性和灵活性，保持了与自主操作相似的精度。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.