Force Feedback and Visual Fusion in Minimally Invasive Surgical Robots

Abstract

The precise operation of minimally invasive surgical (MIS) robots relies on multi-dimensional perception of the surgical scene, and the fusion of force feedback (tactile perception) and visual perception is the core technology to break the bottleneck of the “perceptiondecision- control” loop. This paper systematically reviews the development of force-visual fusion technology for MIS robots, analyzing from sensor layer innovation, and algorithm layer breakthroughs, to system layer integration. It examines technical adaptability and performance bottlenecks by combining typical clinical scenarios such as tumor resection, vascular suturing and nerve dissection. Finally, addressing key issues including poor generalization in in-vivo environments, difficulties in multi-modal spatiotemporal synchronization, and lack of clinical translation standards, the paper proposes future development paths based on “surgical metaverse,” “hybrid dataset training,” and tele-surgery specifications, providing references for technology R&D and clinical translation in the interdisciplinary field of medicine and engineering.