Work

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

Year: 2025

Type: article

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: 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.

Source: International Journal of Medical Robotics and Computer Assisted Surgery

DOI: 10.1002/rcs.70069

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

Institutions: Tsinghua University, Chinese PLA General Hospital, State Key Laboratory of Tribology

Language: English

Topic: Teleoperation and Haptic Systems

Subfield: Mechanical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: bronze

Funder: State Key Laboratory of Tribology

Award: G8468926488