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...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,andfiber 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.展开更多
基金the National Natural Science Foundation of China(No.62003209)the Natural Science Foundation of Shanghai(No.21ZR1429500)+2 种基金the Shanghai Rising-Star Program(No.22QC1401400)the Science and Technology Commission of Shanghai Municipality(No.20DZ2220400)the Open Project Fund from the Shenzhen Institute of Artificial Intelligence and Robotics for Society,China(No.AC01202005012)。
文摘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,andfiber 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.
