Haptic Shared Control Framework with Interaction Force Constraint Based on Control Barrier Function for Teleoperation
Current teleoperated robotic systems for retinal surgery cannot effectively control subtle tool-to-tissue interaction forces. This limitation may lead to patient injury caused by the surgeon’s mistakes. To improve the safety of retinal surgery, this paper proposes a haptic shared control framework f...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/25/2/405 |
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| author | Wenlei Qin Haoran Yi Zhibin Fan Jie Zhao |
| author_facet | Wenlei Qin Haoran Yi Zhibin Fan Jie Zhao |
| author_sort | Wenlei Qin |
| collection | DOAJ |
| description | Current teleoperated robotic systems for retinal surgery cannot effectively control subtle tool-to-tissue interaction forces. This limitation may lead to patient injury caused by the surgeon’s mistakes. To improve the safety of retinal surgery, this paper proposes a haptic shared control framework for teleoperation based on a force-constrained supervisory controller. The supervisory controller leverages Control Barrier Functions (CBFs) and the interaction model to modify teleoperated inputs when they are deemed unsafe. This method ensures that the interaction forces at the slave robot’s end-effector remain within the safe range without the robot’s dynamic model and the safety margin. Additionally, the master robot provides haptic feedback to enhance the surgeon’s situational awareness during surgery, reducing the risk of misjudgment. Finally, simulated membrane peeling experiments are conducted in a controlled intraocular surgical environment using a teleoperated robotic system controlled by a non-expert. The experimental results demonstrate that the proposed control framework significantly reduces the rate of force constraint violation. |
| format | Article |
| id | doaj-art-34027cb0c5fa4e29b4cefd36549bfc41 |
| institution | Kabale University |
| issn | 1424-8220 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-34027cb0c5fa4e29b4cefd36549bfc412025-01-24T13:48:48ZengMDPI AGSensors1424-82202025-01-0125240510.3390/s25020405Haptic Shared Control Framework with Interaction Force Constraint Based on Control Barrier Function for TeleoperationWenlei Qin0Haoran Yi1Zhibin Fan2Jie Zhao3State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaCurrent teleoperated robotic systems for retinal surgery cannot effectively control subtle tool-to-tissue interaction forces. This limitation may lead to patient injury caused by the surgeon’s mistakes. To improve the safety of retinal surgery, this paper proposes a haptic shared control framework for teleoperation based on a force-constrained supervisory controller. The supervisory controller leverages Control Barrier Functions (CBFs) and the interaction model to modify teleoperated inputs when they are deemed unsafe. This method ensures that the interaction forces at the slave robot’s end-effector remain within the safe range without the robot’s dynamic model and the safety margin. Additionally, the master robot provides haptic feedback to enhance the surgeon’s situational awareness during surgery, reducing the risk of misjudgment. Finally, simulated membrane peeling experiments are conducted in a controlled intraocular surgical environment using a teleoperated robotic system controlled by a non-expert. The experimental results demonstrate that the proposed control framework significantly reduces the rate of force constraint violation.https://www.mdpi.com/1424-8220/25/2/405shared controlforce constraintControl Barrier Functionsteleoperationmedical robots and systems |
| spellingShingle | Wenlei Qin Haoran Yi Zhibin Fan Jie Zhao Haptic Shared Control Framework with Interaction Force Constraint Based on Control Barrier Function for Teleoperation Sensors shared control force constraint Control Barrier Functions teleoperation medical robots and systems |
| title | Haptic Shared Control Framework with Interaction Force Constraint Based on Control Barrier Function for Teleoperation |
| title_full | Haptic Shared Control Framework with Interaction Force Constraint Based on Control Barrier Function for Teleoperation |
| title_fullStr | Haptic Shared Control Framework with Interaction Force Constraint Based on Control Barrier Function for Teleoperation |
| title_full_unstemmed | Haptic Shared Control Framework with Interaction Force Constraint Based on Control Barrier Function for Teleoperation |
| title_short | Haptic Shared Control Framework with Interaction Force Constraint Based on Control Barrier Function for Teleoperation |
| title_sort | haptic shared control framework with interaction force constraint based on control barrier function for teleoperation |
| topic | shared control force constraint Control Barrier Functions teleoperation medical robots and systems |
| url | https://www.mdpi.com/1424-8220/25/2/405 |
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