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

# metadata.dc.description[].value
Treballs Finals de Grau d'Enginyeria Biomèdica. Facultat de Medicina i Ciències de la Salut. Universitat de Barcelona. Curs: 2023-2024. Tutor/Director: Dr. Manel Puig i Vidal

# metadata.dc.description.abstract[].value
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.

# metadata.dc.rights[].value
cc-by-nc-nd (c) : Jan Sampol Ramirez, 2024

# metadata.dc.source[].value
Treballs Finals de Grau (TFG) - Enginyeria Biomèdica

# metadata.dc.title[].value
Integration of Haptic Feedback in Robotic  Surgery: Enhancing the Performance of the  UR5e Robotic Arm