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A force-sensing surgical tool with a proximally located force/torque sensor



A force-sensing surgical tool with a proximally located force/torque sensor



International Journal of Medical Robotics + Computer Assisted Surgery 13(1):



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. 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. Experimental results are presented, and indicate high force sensing accuracies with errors <0.09 N. 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.

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Accession: 057063242

Download citation: RISBibTeXText

PMID: 26919028

DOI: 10.1002/rcs.1737


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