Electromagnetic Haptic Feedback System for Teleoperated Robotic Puncture Tasks

In minimally invasive procedures involving puncture techniques of robotic-assisted surgical systems, haptic feedback is critical for enhancing the operators perceptual capabilities, improving puncture accuracy and reducing the risk of tissue damage. The traditional mechanical haptic feedback may suffer from friction, which affects the haptic interaction experience. In this paper, a magnetic haptic feedback device based on electromagnetic coils is designed, which can dynamically adjust the magnetic field according to the changes in puncture force for achieving its high-fidelity reproduction. Then a magnetic haptic feedback algorithm based on three sequential stages (calibration, training, and feedback) is proposed. In calibration stage, the system obtains the nonlinear mapping between coil duty cycle and magnetic force. In training stage, a residual-connected multilayer perceptron model learns the mapping from force to duty cycle. In feedback stage, coil currents are dynamically computed according to the target feedback force and current pose, enabling high-precision force reconstruction and real-time magnetic field control. Furthermore, a magnetic haptic feedback system tailored for teleoperated robotic puncture tasks is implemented, which consists of a surgeon-side and a patient-side. The surgeon-side constructs a 3D simulation environment to specify the target puncture point, remotely control the puncture process, and receive real-time force feedback; the patient-side uses a six-degree-of-freedom robotic arm to perform puncture operation and collects puncture force data, which is then feedback to the surgeon-side. Through phantom experiments and user evaluations, the superior performance of this system in terms of force feedback fidelity and operational immersion has been validated.