Integrating accurate haptic feedback into robot-assisted minimally invasive surgery (RAMIS) remains challenging due to difficulties in precise force rendering and ensuring system safety during teleoperation. We present a Nonlinear Impedance Matching Approach (NIMA) that extends our previously validated Impedance Matching Approach (IMA) by incorporating nonlinear dynamics to accurately model and render complex tool-tissue interactions in real-time. NIMA achieves a mean absolute error of 0.01 (std 0.02 N), representing a 95% reduction compared to IMA. Additionally, NIMA eliminates haptic "kickback" by ensuring zero force is applied to the user's hand when they release the handle, enhancing both patient safety and operator comfort. By accounting for nonlinearities in tool-tissue interactions, NIMA significantly improves force fidelity, responsiveness, and precision across various surgical conditions, advancing haptic feedback systems for reliable robot-assisted surgical procedures.

翻译：将精确的触觉反馈集成到机器人辅助微创手术中仍然具有挑战性，原因在于远程操作期间难以实现精确的力渲染并确保系统安全。我们提出了一种非线性阻抗匹配方法，该方法通过纳入非线性动力学来扩展我们先前验证过的阻抗匹配方法，以实时精确建模和渲染复杂的器械-组织交互。NIMA实现了0.01 N的平均绝对误差，与IMA相比降低了95%。此外，NIMA通过确保用户在释放手柄时施加到其手上的力为零，消除了触觉"回弹"，从而增强了患者安全和操作者舒适度。通过考虑器械-组织交互中的非线性因素，NIMA在各种手术条件下显著提高了力保真度、响应性和精确性，推动了用于可靠机器人辅助手术程序的触觉反馈系统的发展。