Force sensing in robot-assisted keyhole endoscopy: A systematic survey

Abstract

Instrument–tissue interaction forces in minimally invasive surgery (MIS) provide valuable information that can be used to provide haptic perception, monitor tissue trauma, develop training guidelines, and evaluate the skill level of novice and expert surgeons. Force and tactile sensing is lost in many robot-assisted surgery (RAS) systems. Therefore, many researchers have focused on recovering this information through sensing systems and estimation algorithms. This article provides a comprehensive systematic review of the current force sensing research aimed at RAS and, more generally, keyhole endoscopy, in which instruments enter the body through small incisions. Articles published between January 2011 and May 2020 are considered, following the Preferred Reporting Items for Systematic reviews and Meta-Analyses (PRISMA) guidelines. The literature search resulted in 110 papers on different force estimation algorithms and sensing technologies, sensor design specifications, and fabrication techniques.

OpenRST: An Open Platform for Customizable 3D Printed Cable-Driven Robotic Surgical Tools

“…The instruments must be cleaned and sterilized before coming into contact with the human body. Traditional sterilization procedures include plasma and gamma radiation, chemical sterilization (alcohol, ethylene oxide, formaldehyde) and steam sterilization [29], the latter being the fastest and preferred method [30]. Steam sterilization consists of inserting surgical instruments into an autoclave at 132-133 • C, 205 kPa for up to 15 minutes [28].…”

Advanced User Interfaces for Teleoperated Surgical Robotic Systems

“…present a review of 32 studies published between 2011 and 2019 that used strain gauges or commercial strain‐gauge‐based force sensors for force sensing of surgical instruments in MIS. [ 87 ] In some contexts of tactile feedback, piezoresistive sensors have been chosen for their quick response, low noise in results, and ease of microfabrication. For example, Hu et al.…”

“…[ 104 ] However, in applications requiring dynamic loading, they are temperature‐sensitive and incorrect. [ 87 ] The technique of employing accelerometers to measure the vibration frequency and phase shifting to estimate force is another sensing approach. This method notwithstanding is slow since it takes a few vibration cycles to provide steady, dependable signals.…”

“…Hadi Hosseinabadi et al present a review of 32 studies published between 2011 and 2019 that used strain gauges or commercial strain-gauge-based force sensors for force sensing of surgical instruments in MIS. [87] In some contexts of tactile feedback, piezoresistive sensors have been chosen for their quick response, low noise in results, and ease of microfabrication. For example, Hu et al developed a bioinspired 3-D tactile sensor for MIS (Figure 5a), which can exhibit a shear force sensitivity of 10.8 N −1 and a normal force sensitivity of 3.5 N −1 .…”

Design and Test of a Curved-Beam Based Compliant Gripper for Manipulations of Actively Deformable Objects

“…Force-sensitive manipulation has emerged as one of the key enabling technologies in many advanced engineering areas such as robotic surgical devices [1], [2] and cell microinjection [3]. Maintaining a proper grasping force is a significant concern during the manipulating process [4], [5].…”