During percutaneous biopsies that require needle insertion, the surgeons’ hands can feel the needle-tissue interaction forces, and surgeons rely on this information to perform the operation. In teleoperated robotic systems, all physical connections between the surgeon and both the robot and the patient are absent. This can lead to decreased performance and accuracy, as a surgeon leverages their sense of touch for manipulating tissues and feeling their consistencies. Therefore, there exists a need for transparent haptic feedback. On top
of this, the accuracy and performance of teleoperated surgery might be further improved by introducing guidance to the teleoperated system. This would make it a shared control system.
This research will include a 6-DOF leader device controlling a 6-DOF follower device. The follower inserts a needle into a virtual model of a liver projected onto a gelatin phantom, where the goal is to reach a predefined target. The main contribution will be the reflection of the forces and torques measured at the needle base to the user, as well as the guidance
algorithm for the orientation of the needle. This algorithm will consist of a region-based spring-damper that guides the user to a desired orientation. The whole system will be validated through user studies.