A review of tactile sensors used in surgical robots

Abstract

Applications of robotics-assist surgeries developed rapidly in worldwide biomedical research. Haptic and force feedback is one of the main challenges in current research on surgical robotics. Lack of proper haptic and force feedback in roboticassist surgeries will limit the movement and affect the doctors' judgement. Force sensors play an essential role when collecting and transporting feedback signals, and different sensors have their respective advantages and disadvantages. Based on the haptic and force feedback background related to surgical robots, this article will introduce the main features of different force sensors, including but not limited to traditional sensors like optical-based and recent-developed on-skin sensors. This article will also discuss further how the precision and stability of haptic feedback could be improved and the possible applications of new haptic and force feedback technologies in future studies.