A Study of Force Feedback Master-Slave Teleoperation System Based on Biological Tissue Interaction

The use of the teleoperated surgical system in surgery is a tremendous advancement in medicine, assisting surgeons with more complex treatments. However, there are still many details of the existing technology that need to be improved, and one of the key ones is the integration of force feedback into teleoperated surgical systems. In this paper, the interaction model of epithelial tissue, muscle fibers, and connective tissue were established through an in-depth study of biological tissue interaction models, selecting the Hunt-Crossley model, and using porcine pancreatic meat for relaxation testing. Based on the established soft tissue interaction model, a force-feedback master-slave teleoperated system without force sensors was built and the corresponding control strategy was developed. Finally, through trajectory tracking experiment, force feedback experiment, and lateral stretching experiment the good performance and practical value of the system.