Markov Intent-Driven Shared Control for Teleoperated Needle Puncture

Pu Chen; Hao Wen; Haibo Jing; Jiexi Tian; Xingguang Duan; Changsheng Li

doi:10.1109/CIS-RAM71614.2026.11668517

Markov Intent-Driven Shared Control for Teleoperated Needle Puncture

Pu Chen
, Hao Wen
, Haibo Jing
, Jiexi Tian
, Xingguang Duan
, Changsheng Li^*

^*Corresponding author for this work

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper presents a probabilistic shared-control framework for teleoperated robotic needle puncture to mitigate tracking latency and the 'pop-through' effect. The system integrates a Force Dimension Omega. 6 master device with an EtherCAT-driven dual-axis slave mechanism and a Kunwei KWR36 6-DOF force sensor. A 7-state Markov transition model, utilizing fuzzy logic fusion of real-time probability metrics, dynamically adjusts four control weights to provide adaptive force protection and autonomous needle rotation. Experimental results in synthetic tissue phantoms demonstrate a 20% reduction in peak puncture force and significantly enhanced position tracking compared to pure bilateral teleoperation. The framework ensures statistically secure control handovers based on verified human intent.

Original language	English
Title of host publication	CIS-RAM 2026 - 2026 IEEE International Conference on Cybernetics and Intelligent Systems IEEE International Conference on Robotics, Automation and Mechatronics
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	424-429
Number of pages	6
Edition	2026
ISBN (Electronic)	9798319521880
DOIs	https://doi.org/10.1109/CIS-RAM71614.2026.11668517
Publication status	Published - 2026
Externally published	Yes
Event	12th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2026 and the 12th IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2026 - Changchun, China Duration: 5 Aug 2026 → 8 Aug 2026

Conference

Conference	12th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2026 and the 12th IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2026
Country/Territory	China
City	Changchun
Period	5/08/26 → 8/08/26

Keywords

Markov processes
Medical robotics
Shared control

Access to Document

10.1109/CIS-RAM71614.2026.11668517

Cite this

Chen, P., Wen, H., Jing, H., Tian, J., Duan, X., & Li, C. (2026). Markov Intent-Driven Shared Control for Teleoperated Needle Puncture. In CIS-RAM 2026 - 2026 IEEE International Conference on Cybernetics and Intelligent Systems IEEE International Conference on Robotics, Automation and Mechatronics (2026 ed., pp. 424-429). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CIS-RAM71614.2026.11668517

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title = "Markov Intent-Driven Shared Control for Teleoperated Needle Puncture",

abstract = "This paper presents a probabilistic shared-control framework for teleoperated robotic needle puncture to mitigate tracking latency and the 'pop-through' effect. The system integrates a Force Dimension Omega. 6 master device with an EtherCAT-driven dual-axis slave mechanism and a Kunwei KWR36 6-DOF force sensor. A 7-state Markov transition model, utilizing fuzzy logic fusion of real-time probability metrics, dynamically adjusts four control weights to provide adaptive force protection and autonomous needle rotation. Experimental results in synthetic tissue phantoms demonstrate a 20\% reduction in peak puncture force and significantly enhanced position tracking compared to pure bilateral teleoperation. The framework ensures statistically secure control handovers based on verified human intent.",

keywords = "Markov processes, Medical robotics, Shared control",

author = "Pu Chen and Hao Wen and Haibo Jing and Jiexi Tian and Xingguang Duan and Changsheng Li",

note = "Publisher Copyright: {\textcopyright} 2026 IEEE.; 12th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2026 and the 12th IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2026 ; Conference date: 05-08-2026 Through 08-08-2026",

year = "2026",

doi = "10.1109/CIS-RAM71614.2026.11668517",

language = "English",

pages = "424--429",

booktitle = "CIS-RAM 2026 - 2026 IEEE International Conference on Cybernetics and Intelligent Systems IEEE International Conference on Robotics, Automation and Mechatronics",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

edition = "2026",

}

Chen, P, Wen, H, Jing, H, Tian, J, Duan, X & Li, C 2026, Markov Intent-Driven Shared Control for Teleoperated Needle Puncture. in CIS-RAM 2026 - 2026 IEEE International Conference on Cybernetics and Intelligent Systems IEEE International Conference on Robotics, Automation and Mechatronics. 2026 edn, Institute of Electrical and Electronics Engineers Inc., pp. 424-429, 12th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2026 and the 12th IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2026, Changchun, China, 5/08/26. https://doi.org/10.1109/CIS-RAM71614.2026.11668517

Markov Intent-Driven Shared Control for Teleoperated Needle Puncture. / Chen, Pu; Wen, Hao; Jing, Haibo et al.
CIS-RAM 2026 - 2026 IEEE International Conference on Cybernetics and Intelligent Systems IEEE International Conference on Robotics, Automation and Mechatronics. 2026. ed. Institute of Electrical and Electronics Engineers Inc., 2026. p. 424-429.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Markov Intent-Driven Shared Control for Teleoperated Needle Puncture

AU - Chen, Pu

AU - Wen, Hao

AU - Jing, Haibo

AU - Tian, Jiexi

AU - Duan, Xingguang

AU - Li, Changsheng

PY - 2026

Y1 - 2026

N2 - This paper presents a probabilistic shared-control framework for teleoperated robotic needle puncture to mitigate tracking latency and the 'pop-through' effect. The system integrates a Force Dimension Omega. 6 master device with an EtherCAT-driven dual-axis slave mechanism and a Kunwei KWR36 6-DOF force sensor. A 7-state Markov transition model, utilizing fuzzy logic fusion of real-time probability metrics, dynamically adjusts four control weights to provide adaptive force protection and autonomous needle rotation. Experimental results in synthetic tissue phantoms demonstrate a 20% reduction in peak puncture force and significantly enhanced position tracking compared to pure bilateral teleoperation. The framework ensures statistically secure control handovers based on verified human intent.

AB - This paper presents a probabilistic shared-control framework for teleoperated robotic needle puncture to mitigate tracking latency and the 'pop-through' effect. The system integrates a Force Dimension Omega. 6 master device with an EtherCAT-driven dual-axis slave mechanism and a Kunwei KWR36 6-DOF force sensor. A 7-state Markov transition model, utilizing fuzzy logic fusion of real-time probability metrics, dynamically adjusts four control weights to provide adaptive force protection and autonomous needle rotation. Experimental results in synthetic tissue phantoms demonstrate a 20% reduction in peak puncture force and significantly enhanced position tracking compared to pure bilateral teleoperation. The framework ensures statistically secure control handovers based on verified human intent.

KW - Markov processes

KW - Medical robotics

KW - Shared control

UR - https://www.scopus.com/pages/publications/105050172924

U2 - 10.1109/CIS-RAM71614.2026.11668517

DO - 10.1109/CIS-RAM71614.2026.11668517

M3 - Conference contribution

AN - SCOPUS:105050172924

SP - 424

EP - 429

BT - CIS-RAM 2026 - 2026 IEEE International Conference on Cybernetics and Intelligent Systems IEEE International Conference on Robotics, Automation and Mechatronics

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 12th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2026 and the 12th IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2026

Y2 - 5 August 2026 through 8 August 2026

ER -

Chen P, Wen H, Jing H, Tian J, Duan X , Li C. Markov Intent-Driven Shared Control for Teleoperated Needle Puncture. In CIS-RAM 2026 - 2026 IEEE International Conference on Cybernetics and Intelligent Systems IEEE International Conference on Robotics, Automation and Mechatronics. 2026 ed. Institute of Electrical and Electronics Engineers Inc. 2026. p. 424-429 doi: 10.1109/CIS-RAM71614.2026.11668517

Markov Intent-Driven Shared Control for Teleoperated Needle Puncture

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Keywords

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