为机器人手术训练开发可模块化触觉反馈工具，提升操作精准度与效率
An Experimental Modular Instrument With a Haptic Feedback Framework for Robotic Surgery Training
- 腕部搭载力矩传感器，实时估算器械-组织作用力
- 触觉反馈使任务成功率、力控精度和效率显著提升
- 适合需要高精度力控训练的外科医生与教学机构
机器人辅助手术虽具临床优势，但大幅削弱了直接触觉反馈，增加器械与组织间作用力过大的风险。尽管近年商用系统开始引入力反馈，但高昂成本限制了其在手术训练中的普及。本文提出一种模块化实验性机器人腹腔镜器械，集成实时触觉反馈框架。该器械采用腕部安装的力/扭矩（F/T）传感器，估算器械-组织相互作用力，避免了尖端传感器在耐用性和集成上的挑战。开发了触觉反馈框架，提取外部接触力，渲染至触觉设备，并生成稳定且感知有意义的反馈。该器械已集成至机器人手术训练系统（RoboScope），并通过控制用户研究中的力调节任务进行评估。实验结果表明，相较于仅依赖视觉反馈，触觉反馈显著提升了任务成功率、力控精度和任务效率。所提器械实现了稳定、高保真的触觉交互，支持有效的机器人手术训练。
原文摘要 · Abstract (English)
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.
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