A Configurable Real2Sim Bimanual Teleoperation Framework for Surgical Robotic Tool Design and Evaluation.

Authors

Teng Li, Sunny Zhang, Cate Balasubramanian, Thomas Looi, Dale J Podolsky

Published in

The international journal of medical robotics + computer assisted surgery : MRCAS. Volume 22. Issue 5. Pages e70235.

Abstract

During surgical robotic tool development, teleoperation can provide a valuable means of evaluating tool performance and informing iterative design improvements.
We propose a compact framework for establishing real2sim bimanual teleoperation systems. Using this framework, an Omni-to-Unity system was established to enable bimanual teleoperation of simulated robotic tools using two portable haptic devices. A dVRK-to-Unity system was also implemented to evaluate the framework with a different leader robot. An application scenario was presented to illustrate its use in robotic tool design.
Both systems were integrated with simulated surgical tasks and operated without observed system failures during the reported experiments. The experiments showed the applicability of the framework to different leader robots and simulated robotic tools with different kinematic configurations.
The proposed framework provides a compact approach to establishing bimanual real2sim teleoperation systems and facilitates the evaluation of different robotic tool designs through simulated surgical tasks.

PMID:
42853000
Bibliographic data and abstract were imported from PubMed on 09 Oct 2026.

Read full publication at:
Please sign in to see all details.

Stats

1-terrible, 9-excellent. How would you rate this publication? Sign in in to submit your rating.

Post a comment

You need to be signed in to post comments. You can sign in here.

Comments

There are no comments yet.