The proliferation of robot-assisted minimally invasive surgery highlights the need for advanced training tools such as cost-effective robotic endotrainers. Current surgical robots often lack haptic feedback, which is crucial for providing surgeons with a real-time sense of touch. This absence can impact the surgeon's ability to perform delicate operations effectively. To enhance surgical training and address this deficiency, we have integrated a cost-effective haptic feedback system into a robotic endotrainer. This system incorporates both kinesthetic (force) and tactile feedback, improving the fidelity of surgical simulations and enabling more precise control during operations. Our system incorporates an innovative, cost-effective Force/Torque sensor utilizing optoelectronic technology, specifically designed to accurately detect forces and moments exerted on surgical tools with a 95% accuracy, providing essential kinesthetic feedback. Additionally, we implemented a tactile feedback mechanism that informs the surgeon of the gripping forces between the tool's tip and the tissue. This dual feedback system enhances the fidelity of training simulations and the execution of robotic surgeries, promoting broader adoption and safer practices.

翻译：机器人辅助微创手术的普及凸显了对先进训练工具（如经济型机器人内窥镜训练器）的需求。当前的手术机器人通常缺乏触觉反馈，而这一反馈对于为外科医生提供实时触觉感知至关重要。其缺失可能影响外科医生有效执行精细手术的能力。为加强手术训练并弥补这一不足，我们将一套经济型触觉反馈系统集成至机器人内窥镜训练器中。该系统同时包含动觉（力）与触觉反馈，提升了手术模拟的保真度，并能在手术过程中实现更精准的控制。我们的系统采用了一种创新的、基于光电技术的经济型力/力矩传感器，专门设计用于以95%的准确度精确检测施加于手术器械上的力与力矩，提供必要的动觉反馈。此外，我们实现了一种触觉反馈机制，可将器械末端与组织间的夹持力信息传递给外科医生。这套双重反馈系统提升了训练模拟与机器人手术执行过程的保真度，有助于推动更广泛的采用和更安全的实践。