A force‐sensing surgical tool with a proximally located force/torque sensor. Issue 1 (26th February 2016)

• Record Type: Journal Article
• Authors: Schwalb, W.; Shirinzadeh, B.; Smith, J.
• Is Part Of: International journal of medical robotics and computer assisted surgery. Volume 13:Issue 1(2017)
• Page Start: n/a
• Page End: n/a
• Publication Date: 2016-02-26
• Subjects: surgical robotics -- force‐sensing surgical tool -- force‐feedback enabled surgical robot -- minimally invasive surgery; Robotics in medicine -- Periodicals; Surgery -- Technological innovations -- Periodicals; Imaging systems in medicine -- Periodicals; 617.90285
• DOI: 10.1002/rcs.1737
• Languages: English
• ISSNs: 1478-5951

Abstract

Abstract: Background: Robotic surgery has seen a rapid increase in popularity in the last few decades because advantages such as increased accuracy and dexterity can be realized. These systems still lack force‐feedback, where such a capability is believed to be beneficial to the surgeon and can improve safety. Method: In this paper a force‐feedback enabled surgical robotic system is described in which the developed force‐sensing surgical tool is discussed in detail. The developed surgical tool makes use of a proximally located force/torque sensor, which, in contrast to a distally located sensor, requires no miniaturization or sterilizability. Results: Experimental results are presented, and indicate high force sensing accuracies with errors <0.09 N. Conclusions: It is shown that developing a force‐sensing surgical tool utilizing a proximally located force/torque sensor is feasible, where a tool outer diameter of 12 mm can be achieved. For future work it is desired to decrease the current tool outer diameter to 10 mm. Copyright © 2016 John Wiley & Sons, Ltd.