{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,25]],"date-time":"2026-10-25T03:47:49Z","timestamp":1792900069513,"version":"4.5.0"},"reference-count":35,"publisher":"Wiley","issue":"5","license":[{"start":{"date-parts":[[2022,6,27]],"date-time":"2022-06-27T00:00:00Z","timestamp":1656288000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Robotics Computer Surgery"],"published-print":{"date-parts":[[2022,10]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:sec><jats:title>Background<\/jats:title><jats:p>The accurate sensing and display of the delicate needle\u2010tissue interaction force to the operator is desirable for needle insertion procedures. It not only plays a significant role in the surgical treatment effect, but also has a great significance in improving surgical safety and reducing the incidence of complications. However, the direct detection of the interaction force between the tissue and needle tip by placement of a force sensor is challenging owing to the constraints of miniaturisation, cost, and sterilisation.<\/jats:p><\/jats:sec><jats:sec><jats:title>Methods<\/jats:title><jats:p>In this study, a new position\u2010based force\u2010to\u2010motion controller with magnified force feedback is presented to provide augmented force perception to the operator during needle insertion on the soft tissue. Furthermore, the demonstration to the position\u2010based low level motion controller is more suitable for needle insertion surgical requirements in the cooperative robotic system.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>The proposed controller was experimentally validated by a collaborative lumbar puncture robotics system. Additionally, to provide hand tremor rejection for the stable manipulation of the puncture needle, it was demonstrated that the proposed amplified feedback force controller allowed a safer object interaction with the robotic needle insertion assistance.<\/jats:p><\/jats:sec><jats:sec><jats:title>Conclusions<\/jats:title><jats:p>The results of the experiment show that a desirable interaction force profile is perceived by the operator during the overall insertion task operation. The admittance gain for the simplified admittance controller has a significant impact on the operator's ability to accurately control the applied force.<\/jats:p><\/jats:sec>","DOI":"10.1002\/rcs.2428","type":"journal-article","created":{"date-parts":[[2022,6,2]],"date-time":"2022-06-02T01:39:06Z","timestamp":1654133946000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["An admittance\u2010controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system"],"prefix":"10.1002","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2420-3104","authenticated-orcid":false,"given":"Hongbing","family":"Li","sequence":"first","affiliation":[{"name":"Department of Instrument Science and Engineering, and Shanghai Engineering Research Center for Intelligent Diagnosis and Treatment Instrument School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xun","family":"Nie","sequence":"additional","affiliation":[{"name":"Department of Instrument Science and Engineering School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ding","family":"Duan","sequence":"additional","affiliation":[{"name":"Department of Instrument Science and Engineering School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuling","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Instrument Science and Engineering School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jing","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Hematology and Oncology Shanghai Children's Medical Center, Shanghai Jiao Tong University School of Medicine  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Min","family":"Zhou","sequence":"additional","affiliation":[{"name":"Department of Hematology and Oncology Shanghai Children's Medical Center, Shanghai Jiao Tong University School of Medicine  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Evgeni","family":"Magid","sequence":"additional","affiliation":[{"name":"Institute of Information Technology and Intelligent Systems Kazan Federal University  Kazan Russia"},{"name":"HSE University  Moscow 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