Development of Localized Cutaneous Force Feedback System for Robotics Assisted Surgery Systems

摘要

This study explores integrating a novel cutaneous force feedback system for robotic-assisted surgery (RAS) systems aimed at improving tactile perception for surgical precision and safety. The system developed comprises two major components: a force-sensitive matrix sensor and a 4x4 tactile pin interface. Forces experienced by the sensors are mirrored through the tactile interface, conveying the sensation of knowing which part of the sensor is in contact and how much force is subjected to it. An algorithm called Dynamic Interval Localization (DIL) was developed to manipulate pin actuation by scheduling individualized dynamic oscillation. The system successfully detected operating forces from 0.1N to 5N while concurrently providing respective cutaneous feedback. The system’s performance in force localization suggests significant potential and promises in elevating the haptic features of RAS systems.