An Experimental Modular Instrument With a Haptic Feedback Framework for Robotic Surgery Training
Fuente:
arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| _version_ | 1866918475368235008 |
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| author | Shaker, Walid Erden, Mustafa Suphi |
| author_facet | Shaker, Walid Erden, Mustafa Suphi |
| contents | Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commercial systems have begun to introduce force feedback, their high cost limits accessibility, particularly for surgical training. This paper presents a modular experimental robotic laparoscopic instrument integrated with a real-time haptic feedback framework. The proposed instrument employs a wrist-mounted force/torque (F/T) sensor to estimate tool-tissue interaction forces while avoiding the durability and integration challenges of tip-mounted sensors. A haptic feedback framework is developed to extract the external contact forces, render them to the haptic device, and generate stable and perceptually meaningful feedback. The instrument is integrated into the robotic surgery training system (RoboScope) and evaluated through a controlled user study involving a force regulation task. Experimental results demonstrate that haptic feedback significantly improves task success rate, force regulation accuracy, and task efficiency compared to visual-only feedback. The proposed instrument enables stable, high-fidelity haptic interaction, supporting effective robotic surgery training. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_27385 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | An Experimental Modular Instrument With a Haptic Feedback Framework for Robotic Surgery Training Shaker, Walid Erden, Mustafa Suphi Robotics Human-Computer Interaction Systems and Control Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commercial systems have begun to introduce force feedback, their high cost limits accessibility, particularly for surgical training. This paper presents a modular experimental robotic laparoscopic instrument integrated with a real-time haptic feedback framework. The proposed instrument employs a wrist-mounted force/torque (F/T) sensor to estimate tool-tissue interaction forces while avoiding the durability and integration challenges of tip-mounted sensors. A haptic feedback framework is developed to extract the external contact forces, render them to the haptic device, and generate stable and perceptually meaningful feedback. The instrument is integrated into the robotic surgery training system (RoboScope) and evaluated through a controlled user study involving a force regulation task. Experimental results demonstrate that haptic feedback significantly improves task success rate, force regulation accuracy, and task efficiency compared to visual-only feedback. The proposed instrument enables stable, high-fidelity haptic interaction, supporting effective robotic surgery training. |
| title | An Experimental Modular Instrument With a Haptic Feedback Framework for Robotic Surgery Training |
| topic | Robotics Human-Computer Interaction Systems and Control |
| url | https://arxiv.org/abs/2604.27385 |