Integration of Haptic Feedback in Robotic Surgery: Enhancing the Performance of the UR5e Robotic Arm

Abstract

In recent years, there has been a remarkable technological leap that has allowed the progressive integration of cutting-edge innovations in the medical eld. In this context, robotic surgery has emerged as a fundamental and pioneering tool that fuses computer science, electronics, and medicine. Its major expansion has been signi cantly driven by the Da Vinci Surgical System. Although it has been positively received by the medical community, it has certain limitations that prevent it from reaching its full potential. Among these limitations, the lack of haptic feedback and the high acquisition cost stand out. In the light of these considerations, the project has been initiated with the objective of developing new solutions to the problems and limitations currently encountered by this technology. To this end, the study design adopts a comprehensive approach to tackle the identi ed shortcomings, structured into two distinct phases. The rst stage involves the development of software and hardware to enhance the performance and functionality of the surgical system, which comprises a UR5e robotic arm and a series of surgeon-operated controllers. In the subsequent stage, haptic technology is integrated into the robotic arm, followed by comprehensive testing to verify its functionality. The results indicate the development of an economical system with an acceptable level of robustness and uid communication, allowing for comfortable and intuitive operation by the surgeon. In addition, it has been possible to transmit with precision and in real time the force exerted by the surgical tool on the tissue to the surgeon, via a vibratory actuator and a graphic interface that o ers a visual and audible representation of the force exerted. These two implementations enhance the surgeon's performance and increase the safety of the procedure.