HM-Array: A Novel Haptic Magnetism-based Leader-follower Platform for Minimally Invasive Robotic Surgery

Ensuring the safety and authenticity of haptic feed2 back is crucial in the domain of surgical operations, particularly in procedures like Natural Orifice Transluminal Endoscopic Surgery (NOTES) and Minimally Invasive Robotic Surgery (MIRS). To enhance the control efficiency of the robotic operating console, we propose a haptic magnetism-based array (HM7 Array). This system employs a solenoid array and a detection stylus to achieve controller localization without the need for additional sensors, while simultaneously generating haptic effects. The device effectively controls the surgical robot's pose through a localization-haptic combined loopback. The entire system is scheduled on a finite state machine (FSM), seamlessly fusing localization and haptic generation. Psychometric evaluations con14 ducted through user studies have demonstrated the device's pre15 cision and accuracy. Teleoperation experimental results further confirm its potential value in surgical treatments and broader medical haptic applications.