J Shanghai Jiaotong Univ Sci ›› 2023, Vol. 28 ›› Issue (3): 370-381.doi: 10.1007/s12204-023-2607-x

• Special Issue on Advanced Technologies for Medical Robotics • Previous Articles     Next Articles

Progress in Force-Sensing Techniques for Surgical Robots


GAO Hongyan1,2(高红岩),AI Xiaojie1,2(艾孝杰),SUN Zhenglong3(孙正隆),CHEN Weidong1,2(陈卫东),GAO Anzhu1,2*(高安柱)   

  1. (1. Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China;2. Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China;3. School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen 518172, Guangdong, China)
  2. (1.上海交通大学 自动化系,上海200240;2. 上海交通大学 医疗机器人研究院,上海200240;3. 香港中文大学 理工学院,广东深圳 518172)
  • Received:2022-12-08 Revised:2023-01-31 Accepted:2023-05-28 Online:2023-05-28 Published:2023-05-22

Abstract: Force sensing is vital for situational awareness and safe interaction during minimally invasive surgery. Consequently, surgical robots with integrated force-sensing techniques ensure precise and safe operations. Over the past few decades, there has been considerable progress in force-sensing techniques for surgical robots. This review summarizes the existing electrically- and optically-based force sensors for surgical robots, including piezoresistive, piezoelectric, capacitive, intensity/phase-modulated, and fiber Bragg gratings. Their principles, applications, advantages, and limitations are also discussed. Finally, we summarize our conclusions regarding state-of-the-art force-sensing technologies for surgical robotics.

Key words: force sensing, surgical robots, minimally invasive surgery

摘要: 力感知在微创手术中对于手术情况分析和安全交互至关重要。因此,集成力感知技术的手术机器人能够保证精确和安全的手术过程。在过去的几十年里,手术机器人的力感知技术已经取得了相当大的进展。本文综述了目前用于手术机器人的基于电和光的力传感器,包括压阻式、压电式、电容式、强度/相位调制和光纤布拉格光栅传感器,同时也讨论了它们的原理、应用、优点和局限性。最后,我们对于当前手术机器人力感知技术进行了总结。

关键词: 力感知,手术机器人,微创手术

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