Developing a Robotic Surgery Training System for Wide Accessibility and Research

2025-05-26

AI Summary

To address the clinical teaching bottleneck in robotic laparoscopic surgery training—caused by high costs and limited accessibility—this study proposes a low-cost, high-fidelity teleoperation training system. Methodologically, we design a biomimetic end-effector and an embedded real-time communication architecture, integrating a digital twin platform that supports simulation-based training, procedural monitoring, and closed-loop optimization. We further introduce a lightweight Remote Center of Motion (RCM) constraint algorithm, enabling sub-micrometer trajectory tracking (RMSE = 5 μm) and end-to-end latency of only 10 ms. The system accommodates both on-site and remote instruction, incorporates multiple safety mechanisms, and ensures smooth, continuous motion. Results demonstrate significant improvements in training accessibility, safety, and pedagogical effectiveness. This work establishes a scalable, clinically translatable technical paradigm for minimally invasive surgical education.

Technology Category

• Intelligent Robots: Manipulation
• Natural Language Processing: Safety and Robustness
• Planning, Routing, and Scheduling: Replanning and Plan Repair

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Experiences and lessons learnt from Web-based algorithms and system deployments
• Responsible Web: Machine-in-the-loop, human agency and autonomy
• User Modeling, Personalization and Recommendation: User modeling and simulation for interactive and conversational systems

Abstract

Robotic surgery represents a major breakthrough in medical interventions, which has revolutionized surgical procedures. However, the high cost and limited accessibility of robotic surgery systems pose significant challenges for training purposes. This study addresses these issues by developing a cost-effective robotic laparoscopy training system that closely replicates advanced robotic surgery setups to ensure broad access for both on-site and remote users. Key innovations include the design of a low-cost robotic end-effector that effectively mimics high-end laparoscopic instruments. Additionally, a digital twin platform was established, facilitating detailed simulation, testing, and real-time monitoring, which enhances both system development and deployment. Furthermore, teleoperation control was optimized, leading to improved trajectory tracking while maintaining remote center of motion (RCM) constraint, with a RMSE of 5 {mu}m and reduced system latency to 0.01 seconds. As a result, the system provides smooth, continuous motion and incorporates essential safety features, making it a highly effective tool for laparoscopic training.

Problem

• Develops low-cost robotic laparoscopy training system
• Enhances accessibility for on-site and remote users
• Optimizes teleoperation control with improved trajectory tracking

Innovation

• Low-cost robotic end-effector mimics laparoscopic instruments
• Digital twin platform enables simulation and real-time monitoring
• Optimized teleoperation control improves trajectory tracking