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Progress in Force-Sensing Techniques for Surgical Robots

手术机器人的力感知技术进展

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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.

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.

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Authors and Affiliations

  1. Department of Automation, Shanghai Jiao Tong University, Shanghai, 200240, China

    Hongyan Gao  (高红岩), Xiaojie Ai  (艾孝杰), Weidong Chen  (陈卫东) & Anzhu Gao  (高安柱)

  2. Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, 200240, China

    Hongyan Gao  (高红岩), Xiaojie Ai  (艾孝杰), Weidong Chen  (陈卫东) & Anzhu Gao  (高安柱)

  3. School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, Guangdong, China

    Zhenglong Sun  (孙正隆)

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  1. Hongyan Gao  (高红岩)
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  2. Xiaojie Ai  (艾孝杰)
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  3. Zhenglong Sun  (孙正隆)
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Correspondence to Anzhu Gao  (高安柱).

Additional information

Foundation item: the National Natural Science Foundation of China (No. 62003209), the Natural Science Foundation of Shanghai (No. 21ZR1429500), the Shanghai Rising-Star Program (No. 22QC1401400), the Science and Technology Commission of Shanghai Municipality (No. 20DZ2220400), and the Open Project Fund from the Shenzhen Institute of Artificial Intelligence and Robotics for Society, China (No. AC01202005012)

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Gao, H., Ai, X., Sun, Z. et al. Progress in Force-Sensing Techniques for Surgical Robots. J. Shanghai Jiaotong Univ. (Sci.) 28, 370–381 (2023). https://doi.org/10.1007/s12204-023-2607-x

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