A Review of Force Sensing Technology in Robot-assisted Laparoscopic Surgery

被引：0
|
作者：
Zhang J. [1 ,2 ]
Yao B. [1 ,2 ]
Dai Y. [1 ,2 ]
Xia G. [1 ,2 ]
机构：
[1] College of Artificial Intelligence, Nankai University, Tianjin
[2] Institute of Robotics & Automatic Information System, Nankai University, Tianjin
来源：
Zhongguo Jixie Gongcheng/China Mechanical Engineering | 2021年 / 32卷 / 21期
关键词：
Force sensing; Force sensor; Research progress; Robot-assisted laparoscopic surgery;
D O I：
10.3969/j.issn.1004-132X.2021.21.001
中图分类号：
学科分类号：
摘要：
In order to promote the further research and clinical applications of force sensing technology in robot-assisted laparoscopic surgery, the research progresses were reviewed. Sensor force sensing was divided into two categories: electrical signal-based sensing and optical signal-based sensing. Some key indicators were analyzed, such as sensor position distribution on surgical instruments, mechanical structure, measurement range, measurement accuracy and electromagnetic compatibility. Sensors' advantages and disadvantages were discussed. Sensorless force sensing was divided into two categories: vision-based sensing and dynamic model-based sensing. And the realization method, technical obstacle and error sources were analyzed. Finally, the development trend of force sensing technology in robot-assisted laparoscopic surgery was prospected. © 2021, China Mechanical Engineering Magazine Office. All right reserved.
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页码：2521 / 2531
页数：10
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